117
Total objective tests
33
Objectives passed
1
Objectives failed
83
Objectives skipped
9.6s
Avg test time
97%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives1 fail29 pass54 skip
| ✕ failed | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 6.6s | 9 errors · 40 warnings · 111 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467126 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467126 ms (missed cycles : 3).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-08-14 10:34:21.259] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-08-14 10:34:21.259] [info] Accepted new action goal ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153998 ms (missed cycles : 6). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153998 ms (missed cycles : 6).[0m ×2 + 1.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786703662.64592457 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382689 ms (missed cycles : 7). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382689 ms (missed cycles : 7).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786703663.29087663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786703663.36100483 seconds ×3 + 3.22sINFOobjective_server_nodeObjective `Collect Training Data with Behaviors` starting at time: 1786703663.95982194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340688 ms (missed cycles : 3). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340688 ms (missed cycles : 3).[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744084 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744084 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056122 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056122 ms (missed cycles : 2).[0m ×2 + 6.23sERRORobjective_server_nodeStart Trainer recording Error: Server not available for service /trainer/start_recording ×3 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5).[0m ×2 + 9.24sERRORobjective_server_nodeDiscard unsaved attempt Error: Server not available for service /trainer/stop_recording ×3 + 9.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Collect Training Data with Behaviors` did not succeed at time: 1786703669.98010135 seconds ×3 + 9.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786703670.71484995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2).[0m ×2 + 10.08sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 10.09sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 10.10sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Received new action goal ×2 + 10.10sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Accepted new action goal ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4).[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 163 warnings · 19044 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.02sINFOros2_control_node[2026-08-14 10:36:17.175] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-14 10:36:17.175] [info] Accepted new action goal ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379488 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379488 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503549 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503549 ms (missed cycles : 3).[0m ×2 + 1.96sWARNros2_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 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310002 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310002 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786703780.78010821 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195859 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195859 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786703781.38264203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.40sINFOros2_control_node[2026-08-14 10:36:21.556] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-14 10:36:21.556] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740641 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740641 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915288 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915288 ms (missed cycles : 4).[0m ×2 + 7.06sWARNros2_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 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696262 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696262 ms (missed cycles : 2).[0m ×2 + 7.85sINFOjoint_trajectory_controllerReceived new action goal ×3135 + 7.86sINFOjoint_trajectory_controllerAccepted new action goal ×3135 + 7.86sINFOros2_control_nodeReceived new action goal[0m ×6270 + 7.86sINFOros2_control_nodeAccepted new action goal[0m ×6270 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204268 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204268 ms (missed cycles : 4).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.726866 ms (missed cycles : 5). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.726866 ms (missed cycles : 5).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748210 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748210 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945871 ms (missed cycles : 6). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.945871 ms (missed cycles : 6).[0m ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777166 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777166 ms (missed cycles : 2).[0m ×2 + 12.74sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.74sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.74sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.74sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.74sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.04sWARNros2_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 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315728 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315728 ms (missed cycles : 2).[0m ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959852 ms (missed cycles : 2). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959852 ms (missed cycles : 2).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125043 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125043 ms (missed cycles : 2).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818157 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818157 ms (missed cycles : 2).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560198 ms (missed cycles : 3). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560198 ms (missed cycles : 3).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993220 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993220 ms (missed cycles : 2).[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475020 ms (missed cycles : 3). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475020 ms (missed cycles : 3).[0m ×2 + 20.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×4 + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791216 ms (missed cycles : 2). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791216 ms (missed cycles : 2).[0m ×2 + 21.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.799855 ms (missed cycles : 6). + 21.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.799855 ms (missed cycles : 6).[0m ×2 + 22.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956716 ms (missed cycles : 2). + 22.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956716 ms (missed cycles : 2).[0m ×2 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283298 ms (missed cycles : 2). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283298 ms (missed cycles : 2).[0m ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028078 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028078 ms (missed cycles : 2).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220843 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220843 ms (missed cycles : 2).[0m ×2 + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432723 ms (missed cycles : 6). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432723 ms (missed cycles : 6).[0m ×2 + 28.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624795 ms (missed cycles : 2). + 28.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624795 ms (missed cycles : 2).[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105647 ms (missed cycles : 2). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105647 ms (missed cycles : 2).[0m ×2 + 30.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717797 ms (missed cycles : 2). + 30.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717797 ms (missed cycles : 2).[0m ×2 + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683994 ms (missed cycles : 2). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683994 ms (missed cycles : 2).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796642 ms (missed cycles : 3). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796642 ms (missed cycles : 3).[0m ×2 + 33.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750647 ms (missed cycles : 2). + 33.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750647 ms (missed cycles : 2).[0m ×2 + 34.12sWARNros2_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 + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160779 ms (missed cycles : 2). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160779 ms (missed cycles : 2).[0m ×2 + 35.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689833 ms (missed cycles : 2). + 35.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689833 ms (missed cycles : 2).[0m ×2 + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862086 ms (missed cycles : 2). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862086 ms (missed cycles : 2).[0m ×2 + 37.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211235 ms (missed cycles : 5). + 37.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.211235 ms (missed cycles : 5).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707757 ms (missed cycles : 2). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707757 ms (missed cycles : 2).[0m ×2 + 39.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730877 ms (missed cycles : 2). + 39.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730877 ms (missed cycles : 2).[0m ×2 + 40.33sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761250 ms (missed cycles : 2). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761250 ms (missed cycles : 2).[0m ×2 + 41.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 41.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687632 ms (missed cycles : 2). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687632 ms (missed cycles : 2).[0m ×2 + 42.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778224 ms (missed cycles : 2). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778224 ms (missed cycles : 2).[0m ×2 + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087821 ms (missed cycles : 4). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087821 ms (missed cycles : 4).[0m ×2 + 44.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699005 ms (missed cycles : 2). + 44.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699005 ms (missed cycles : 2).[0m ×2 + 45.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732318 ms (missed cycles : 2). + 45.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732318 ms (missed cycles : 2).[0m ×2 + 46.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819871 ms (missed cycles : 2). + 46.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819871 ms (missed cycles : 2).[0m ×2 + 47.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700745 ms (missed cycles : 2). + 47.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700745 ms (missed cycles : 2).[0m ×2 + 48.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786703825.19771028 seconds ×3 + 48.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 48.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786703825.83858395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405616 ms (missed cycles : 2). + 48.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405616 ms (missed cycles : 2).[0m ×2 + 48.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.83sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 48.84sINFOros2_control_node[2026-08-14 10:37:05.992] [info] Received new action goal ×2 + 48.84sINFOros2_control_node[2026-08-14 10:37:05.992] [info] Accepted new action goal ×2 + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822192 ms (missed cycles : 3). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822192 ms (missed cycles : 3).[0m ×2 + 50.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796292 ms (missed cycles : 2). + 50.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796292 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 169 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-14 10:35:23.187] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709841186 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709879404 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.96sINFOobjective_server_node[2026-08-14 10:35:23.870] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.921833460 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924822391 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924846548 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-14 10:35:23.992] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-14 10:35:24.348799868 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369875850 [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 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369907363 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786703726.18620276 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786703726.88204789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2).[0m ×2 + 6.98sWARNros2_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 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 7.26sINFOros2_control_node[2026-08-14 10:35:30.176] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-08-14 10:35:30.176] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.744921 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.744921 ms (missed cycles : 5).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672453 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672453 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123958 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.123958 ms (missed cycles : 4).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455633 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.455633 ms (missed cycles : 4).[0m ×2 + 10.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.43sINFOros2_control_node[2026-08-14 10:35:33.346] [info] Received new action goal ×2 + 10.43sINFOros2_control_node[2026-08-14 10:35:33.346] [info] Accepted new action goal ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206650 ms (missed cycles : 3). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206650 ms (missed cycles : 3).[0m ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468487 ms (missed cycles : 4). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468487 ms (missed cycles : 4).[0m ×2 + 13.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.41sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 13.42sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.47sINFOros2_control_node[2026-08-14 10:35:36.379] [info] Received new action goal ×2 + 13.47sINFOros2_control_node[2026-08-14 10:35:36.379] [info] Accepted new action goal ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551057 ms (missed cycles : 4). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551057 ms (missed cycles : 4).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461614 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461614 ms (missed cycles : 2).[0m ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862340 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862340 ms (missed cycles : 3).[0m ×2 + 16.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.43sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.43sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.43sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.43sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761787 ms (missed cycles : 2). + 16.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761787 ms (missed cycles : 2).[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653867 ms (missed cycles : 3). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653867 ms (missed cycles : 3).[0m ×2 + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667834 ms (missed cycles : 5). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.667834 ms (missed cycles : 5).[0m ×2 + 19.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 20.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759201 ms (missed cycles : 5). + 20.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759201 ms (missed cycles : 5).[0m ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891740 ms (missed cycles : 3). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891740 ms (missed cycles : 3).[0m ×2 + 22.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910020 ms (missed cycles : 3). + 22.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910020 ms (missed cycles : 3).[0m ×2 + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576826 ms (missed cycles : 5). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.576826 ms (missed cycles : 5).[0m ×2 + 23.97sINFOobjective_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 + 23.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.97sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.97sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.97sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.97sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768593 ms (missed cycles : 2). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768593 ms (missed cycles : 2).[0m ×2 + 24.85sINFOros2_control_node[2026-08-14 10:35:47.766] [info] Received new action goal ×2 + 24.85sINFOros2_control_node[2026-08-14 10:35:47.766] [info] Accepted new action goal ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.965041 ms (missed cycles : 6). + 25.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.965041 ms (missed cycles : 6).[0m ×2 + 26.04sINFOobjective_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 + 26.05sINFOobjective_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 + 26.07sWARNros2_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 + 26.32sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 26.36sINFOros2_control_node[2026-08-14 10:35:49.278] [info] Received new action goal ×2 + 26.37sINFOros2_control_node[2026-08-14 10:35:49.278] [info] Accepted new action goal ×2 + 26.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589565 ms (missed cycles : 5). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.589565 ms (missed cycles : 5).[0m ×2 + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039361 ms (missed cycles : 4). + 27.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039361 ms (missed cycles : 4).[0m ×2 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166863 ms (missed cycles : 4). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166863 ms (missed cycles : 4).[0m ×2 + 28.65sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 28.65sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.66sINFOros2_control_node[2026-08-14 10:35:51.576] [info] Received new action goal ×2 + 28.66sINFOros2_control_node[2026-08-14 10:35:51.576] [info] Accepted new action goal ×2 + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.525405 ms (missed cycles : 6). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.525405 ms (missed cycles : 6).[0m ×2 + 30.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167803 ms (missed cycles : 2). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.167803 ms (missed cycles : 2).[0m ×2 + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420494 ms (missed cycles : 2). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420494 ms (missed cycles : 2).[0m ×2 + 31.70sINFOros2_control_node[2026-08-14 10:35:54.610] [info] Received new action goal ×2 + 31.70sINFOros2_control_node[2026-08-14 10:35:54.610] [info] Accepted new action goal ×2 + 32.25sWARNros2_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 + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181594 ms (missed cycles : 2). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181594 ms (missed cycles : 2).[0m ×2 + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161515 ms (missed cycles : 2). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161515 ms (missed cycles : 2).[0m ×2 + 34.28sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 34.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.34sINFOros2_control_node[2026-08-14 10:35:57.249] [info] Received new action goal ×2 + 34.34sINFOros2_control_node[2026-08-14 10:35:57.250] [info] Accepted new action goal ×2 + 34.57sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159269 ms (missed cycles : 2). + 34.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159269 ms (missed cycles : 2).[0m ×2 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841805 ms (missed cycles : 2). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841805 ms (missed cycles : 2).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316261 ms (missed cycles : 4). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.316261 ms (missed cycles : 4).[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406910 ms (missed cycles : 3). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406910 ms (missed cycles : 3).[0m ×2 + 38.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273197 ms (missed cycles : 4). + 38.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273197 ms (missed cycles : 4).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293689 ms (missed cycles : 4). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293689 ms (missed cycles : 4).[0m ×2 + 41.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514959 ms (missed cycles : 2). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514959 ms (missed cycles : 2).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830913 ms (missed cycles : 3). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.830913 ms (missed cycles : 3).[0m ×2 + 43.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674570 ms (missed cycles : 2). + 43.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674570 ms (missed cycles : 2).[0m ×2 + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553956 ms (missed cycles : 6). + 44.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553956 ms (missed cycles : 6).[0m ×2 + 45.01sINFOros2_control_node[2026-08-14 10:36:07.925] [info] Received new action goal ×2 + 45.01sINFOros2_control_node[2026-08-14 10:36:07.925] [info] Accepted new action goal ×2 + 45.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 45.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961228 ms (missed cycles : 2). + 45.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961228 ms (missed cycles : 2).[0m ×2 + 46.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786703769.08224654 seconds ×3 + 46.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629551 ms (missed cycles : 3). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629551 ms (missed cycles : 3).[0m ×2 + 46.96sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786703769.86993885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129679 ms (missed cycles : 3). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129679 ms (missed cycles : 3).[0m ×2 + 48.13sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 48.14sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.15sINFOros2_control_node[2026-08-14 10:36:11.065] [info] Received new action goal ×2 + 48.15sINFOros2_control_node[2026-08-14 10:36:11.065] [info] Accepted new action goal ×2 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301736 ms (missed cycles : 2). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301736 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 30.8s | 123 warnings · 2451 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×746 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×746 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×372 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×372 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129625 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129625 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694363 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694363 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718802 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718802 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786703847.30622649 seconds ×3 + 3.68sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.68sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395139 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395139 ms (missed cycles : 2).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786703848.01832509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.46sINFOobjective_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 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOobjective_server_nodeFound path in 5 iterations (0.00589875 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:37:28.284] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:37:28.284] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711847 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711847 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582864 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582864 ms (missed cycles : 4).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011531 ms (missed cycles : 5). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011531 ms (missed cycles : 5).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059240 ms (missed cycles : 4). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059240 ms (missed cycles : 4).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932834 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932834 ms (missed cycles : 2).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027608 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027608 ms (missed cycles : 2).[0m ×2 + 10.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547967 ms (missed cycles : 3). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547967 ms (missed cycles : 3).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940905 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940905 ms (missed cycles : 3).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542029 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542029 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090459 ms (missed cycles : 4). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090459 ms (missed cycles : 4).[0m ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624096 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624096 ms (missed cycles : 2).[0m ×2 + 16.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957148 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957148 ms (missed cycles : 2).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622835 ms (missed cycles : 4). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622835 ms (missed cycles : 4).[0m ×2 + 19.37sINFOobjective_server_nodeFound path in 4 iterations (0.00531211 s). ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175832 ms (missed cycles : 7). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.175832 ms (missed cycles : 7).[0m ×2 + 19.49sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.53sINFOobjective_server_nodeFound path in 12 iterations (0.00497994 s). ×2 + 19.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.64sINFOobjective_server_nodeFound path in 1 iterations (0.00306498 s). ×2 + 19.70sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 19.73sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 19.77sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.79sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 19.83sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 19.85sINFOobjective_server_nodeFound path in 12 iterations (0.00586297 s). ×2 + 19.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________X____________________X] ×2 + 19.94sINFOobjective_server_nodeFound path in 1 iterations (0.00477965 s). ×2 + 20.00sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 20.02sINFOobjective_server_nodeFound path in 0 iterations (2.49e-07 s). ×2 + 20.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.09sINFOobjective_server_nodeFound path in 4 iterations (0.00526087 s). ×2 + 20.20sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 20.24sINFOobjective_server_nodeFound path in 10 iterations (0.00772825 s). ×2 + 20.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X___________________________________X] ×2 + 20.38sINFOobjective_server_nodeFound path in 4 iterations (0.00317608 s). ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125373 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125373 ms (missed cycles : 2).[0m ×2 + 20.48sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 20.51sINFOobjective_server_nodeFound path in 1 iterations (0.00524551 s). ×2 + 20.57sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.60sINFOobjective_server_nodeFound path in 1 iterations (0.00321662 s). ×2 + 20.69sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 20.71sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 20.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.79sINFOobjective_server_nodeFound path in 1 iterations (0.00499585 s). ×2 + 20.91sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________X_______X] ×2 + 20.94sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 21.11sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 21.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.35sINFOros2_control_node[2026-08-14 10:37:44.971] [info] Received new action goal ×2 + 21.35sINFOros2_control_node[2026-08-14 10:37:44.971] [info] Accepted new action goal ×2 + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238732 ms (missed cycles : 4). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238732 ms (missed cycles : 4).[0m ×2 + 21.50sWARNros2_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 + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321622 ms (missed cycles : 5). + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321622 ms (missed cycles : 5).[0m ×2 + 23.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194186 ms (missed cycles : 5). + 23.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.194186 ms (missed cycles : 5).[0m ×2 + 24.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413970 ms (missed cycles : 3). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.413970 ms (missed cycles : 3).[0m ×2 + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724020 ms (missed cycles : 4). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.724020 ms (missed cycles : 4).[0m ×2 + 26.34sINFOros2_control_node[2026-08-14 10:37:49.963] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-08-14 10:37:49.963] [info] Accepted new action goal ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731423 ms (missed cycles : 2). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731423 ms (missed cycles : 2).[0m ×2 + 27.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032255 ms (missed cycles : 4). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032255 ms (missed cycles : 4).[0m ×2 + 28.03sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.04sINFOros2_control_node[2026-08-14 10:37:51.665] [info] Received new action goal ×2 + 28.04sINFOros2_control_node[2026-08-14 10:37:51.665] [info] Accepted new action goal ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568583 ms (missed cycles : 3). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.568583 ms (missed cycles : 3).[0m ×2 + 29.27sWARNobjective_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 + 29.27sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.30sINFOros2_control_node[2026-08-14 10:37:52.928] [info] Received new action goal ×2 + 29.30sINFOros2_control_node[2026-08-14 10:37:52.928] [info] Accepted new action goal ×2 + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852133 ms (missed cycles : 2). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852133 ms (missed cycles : 2).[0m ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734374 ms (missed cycles : 2). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734374 ms (missed cycles : 2).[0m ×2 + 32.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271633 ms (missed cycles : 6). + 32.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271633 ms (missed cycles : 6).[0m ×2 + 33.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140586 ms (missed cycles : 2). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140586 ms (missed cycles : 2).[0m ×2 + 33.86sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938775 ms (missed cycles : 3). + 34.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938775 ms (missed cycles : 3).[0m ×2 + 34.53sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786703878.15223765 seconds ×3 + 34.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786703878.79923296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710810 ms (missed cycles : 3). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710810 ms (missed cycles : 3).[0m ×2 + 35.39sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 35.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 35.41sINFOros2_control_node[2026-08-14 10:37:59.033] [info] Received new action goal ×2 + 35.41sINFOros2_control_node[2026-08-14 10:37:59.033] [info] Accepted new action goal ×2 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420816 ms (missed cycles : 4). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420816 ms (missed cycles : 4).[0m ×2 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217537 ms (missed cycles : 4). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217537 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13370 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2202 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2202 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4404 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4404 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699005 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699005 ms (missed cycles : 2).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732318 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732318 ms (missed cycles : 2).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819871 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819871 ms (missed cycles : 2).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700745 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700745 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786703825.19771028 seconds ×3 + 3.67sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.67sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.67sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.67sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×4 + 4.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786703825.83858395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405616 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405616 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_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 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.47sINFOros2_control_node[2026-08-14 10:37:05.992] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-14 10:37:05.992] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822192 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822192 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×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 + 5.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796292 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.796292 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213820 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213820 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454469 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454469 ms (missed cycles : 4).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123894 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123894 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675597 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675597 ms (missed cycles : 2).[0m ×2 + 11.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851457 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851457 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420281 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420281 ms (missed cycles : 3).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005449 ms (missed cycles : 2). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005449 ms (missed cycles : 2).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509037 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509037 ms (missed cycles : 2).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724990 ms (missed cycles : 2). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724990 ms (missed cycles : 2).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222448 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222448 ms (missed cycles : 2).[0m ×2 + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787834 ms (missed cycles : 2). + 17.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787834 ms (missed cycles : 2).[0m ×2 + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961649 ms (missed cycles : 2). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961649 ms (missed cycles : 2).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753107 ms (missed cycles : 2). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753107 ms (missed cycles : 2).[0m ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721103 ms (missed cycles : 2). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721103 ms (missed cycles : 2).[0m ×2 + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939604 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939604 ms (missed cycles : 2).[0m ×2 + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129625 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129625 ms (missed cycles : 2).[0m ×2 + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694363 ms (missed cycles : 2). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694363 ms (missed cycles : 2).[0m ×2 + 24.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718802 ms (missed cycles : 2). + 24.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718802 ms (missed cycles : 2).[0m ×2 + 25.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786703847.30622649 seconds ×3 + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395139 ms (missed cycles : 2). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395139 ms (missed cycles : 2).[0m ×2 + 26.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 26.49sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786703848.01832509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.67sINFOobjective_server_nodeFound path in 5 iterations (0.00589875 s). ×2 + 26.74sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.76sINFOros2_control_node[2026-08-14 10:37:28.284] [info] Received new action goal ×2 + 26.76sINFOros2_control_node[2026-08-14 10:37:28.284] [info] Accepted new action goal ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711847 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711847 ms (missed cycles : 2).[0m ×2 + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582864 ms (missed cycles : 4). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582864 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.0s | 3 errors · 71 warnings · 196 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_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 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1786703645.89858460 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919711 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919711 ms (missed cycles : 3).[0m ×2 + 8.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589694 ms (missed cycles : 3). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589694 ms (missed cycles : 3).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974405 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974405 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481616 ms (missed cycles : 6). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.481616 ms (missed cycles : 6).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848027 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848027 ms (missed cycles : 2).[0m ×2 + 12.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.61sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.90sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 12.90sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592879 ms (missed cycles : 3). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592879 ms (missed cycles : 3).[0m ×2 + 12.93sINFOobjective_server_nodeFound path in 0 iterations (6.44e-07 s). ×2 + 12.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.00sINFOobjective_server_nodeFound path in 1 iterations (0.00318432 s). ×2 + 13.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.19sINFOros2_control_node[2026-08-14 10:34:16.874] [info] Received new action goal ×2 + 13.19sINFOros2_control_node[2026-08-14 10:34:16.874] [info] Accepted new action goal ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634753 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634753 ms (missed cycles : 3).[0m ×2 + 14.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352667 ms (missed cycles : 5). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352667 ms (missed cycles : 5).[0m ×2 + 15.66sINFOros2_control_node[2026-08-14 10:34:19.347] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-08-14 10:34:19.347] [info] Accepted new action goal ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304085 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304085 ms (missed cycles : 2).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467126 ms (missed cycles : 3). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467126 ms (missed cycles : 3).[0m ×2 + 17.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.57sINFOros2_control_node[2026-08-14 10:34:21.259] [info] Received new action goal ×2 + 17.57sINFOros2_control_node[2026-08-14 10:34:21.259] [info] Accepted new action goal ×2 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153998 ms (missed cycles : 6). + 18.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153998 ms (missed cycles : 6).[0m ×2 + 18.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786703662.64592457 seconds ×3 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382689 ms (missed cycles : 7). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382689 ms (missed cycles : 7).[0m ×2 + 19.60sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786703663.29087663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786703663.36100483 seconds ×3 + 20.27sINFOobjective_server_nodeObjective `Collect Training Data with Behaviors` starting at time: 1786703663.95982194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.32sWARNros2_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 + 20.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340688 ms (missed cycles : 3). + 20.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340688 ms (missed cycles : 3).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744084 ms (missed cycles : 5). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744084 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 179 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748508 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748508 ms (missed cycles : 2).[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 ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794534 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794534 ms (missed cycles : 3).[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.26sINFOobjective_server_nodeFound path in 1 iterations (0.00326586 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.46sINFOros2_control_node[2026-08-14 10:35:01.161] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-08-14 10:35:01.161] [info] Accepted new action goal ×2 + 1.89sINFOros2_control_node[2026-08-14 10:35:01.593] [info] Received new action goal ×2 + 1.89sINFOros2_control_node[2026-08-14 10:35:01.593] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780855 ms (missed cycles : 7). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780855 ms (missed cycles : 7).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.645068 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.645068 ms (missed cycles : 6).[0m ×2 + 3.28sINFOobjective_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 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.29sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sERRORobjective_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: 1786703703.03469229 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786703703.81632519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905269 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905269 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.29sINFOros2_control_node[2026-08-14 10:35:03.990] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-14 10:35:03.990] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976655 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976655 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563732 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563732 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 + 6.79sINFOros2_control_node[2026-08-14 10:35:06.486] [info] Received new action goal ×2 + 6.79sINFOros2_control_node[2026-08-14 10:35:06.486] [info] Accepted new action goal ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392117 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392117 ms (missed cycles : 3).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436942 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.436942 ms (missed cycles : 3).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644213 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644213 ms (missed cycles : 3).[0m ×2 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793836 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793836 ms (missed cycles : 3).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799044 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799044 ms (missed cycles : 3).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225612 ms (missed cycles : 4). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225612 ms (missed cycles : 4).[0m ×2 + 12.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420915 ms (missed cycles : 4). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420915 ms (missed cycles : 4).[0m ×2 + 14.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673160 ms (missed cycles : 3). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673160 ms (missed cycles : 3).[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786703715.05873084 seconds ×3 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835869 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835869 ms (missed cycles : 4).[0m ×2 + 16.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786703715.72119093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.06sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.08sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.09sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786703715.79132199 seconds ×3 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6).[0m ×2 + 16.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786703716.38511181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.79sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 16.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.80sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Received new action goal ×2 + 16.80sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Accepted new action goal ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.9s | 61 errors · 42 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4).[0m ×2 + 0.81sINFOobjective_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 + 0.81sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Got request to cancel active goal. ×2 + 0.81sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Canceling active goal... ×2 + 0.82sERRORobjective_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: 1786703933.88802934 seconds ×3 + 0.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703934.50349069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703935.49362421 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786703936.08368826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.01sINFOobjective_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 + 3.01sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786703936.08608794 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786703936.81668711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786703936.81740761 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703937.40981865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187284 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187284 ms (missed cycles : 2).[0m ×2 + 4.42sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512988 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512988 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703938.52994561 seconds ×3 + 5.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996874 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996874 ms (missed cycles : 5).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274427 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274427 ms (missed cycles : 3).[0m ×2 + 8.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202895 ms (missed cycles : 5). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.202895 ms (missed cycles : 5).[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885724 ms (missed cycles : 3). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885724 ms (missed cycles : 3).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611806 ms (missed cycles : 4). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.611806 ms (missed cycles : 4).[0m ×2 + 11.69sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.69sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.70sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.71sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.71sERRORweb_video_auth_proxy-23process has died [pid 10458, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.71sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.72sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.73sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORweb_bridge_auth_proxy-22process has died [pid 10457, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.73sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.73sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.74sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.75sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.76sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.77sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.79sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.79sINFOvideo_server-21process has finished cleanly [pid 10456] ×2 + 11.80sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.81sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.82sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.83sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.84sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.85sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.86sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.87sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.89sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.90sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.91sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.92sINFOcontroller_managerShutdown request received.... + 11.92sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.92sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.92sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.92sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.92sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.92sINFOvideo_server2026/08/14 10:39:04 INF shutting down gracefully ×2 + 11.92sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.92sINFOvideo_server2026/08/14 10:39:04 INF [WebRTC] closing ×2 + 11.92sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.92sINFOvideo_server2026/08/14 10:39:04 INF [RTSP] closing ×2 + 11.92sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.92sINFOvideo_server2026/08/14 10:39:04 INF waiting for running hooks ×2 + 11.92sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.92sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.92sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.92sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.92sINFOcontroller_managerShutting down the controller manager. + 11.92sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.92sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.92sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.92sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.92sERRORmove_groupStack trace (most recent call last) in thread 10682: ×2 + 11.92sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.92sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f27f1f56b63, in __clone ×2 + 11.92sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f27f1ec9b83, in ×2 + 11.92sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f27f215bdb3, in ×2 + 11.92sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f27f28cc637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.92sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f27f24ed620, in rclcpp::Rate::sleep() ×2 + 11.92sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f27f242fd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.92sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f27f23f1087, in ×2 + 11.92sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f27f212a390, in __cxa_throw ×2 + 11.92sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f27f2114a54, in std::terminate() ×2 + 11.92sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f27f212a0d9, in ×2 + 11.92sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f27f2114ff4, in ×2 + 11.92sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f27f1e558fe, in abort ×2 + 11.92sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f27f1e7227d, in raise ×2 + 11.92sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f27f1ecbc0c, in pthread_kill ×2 + 11.92sERRORmove_groupAborted (Signal sent by tkill() 10374 0) ×2 + 11.93sERRORmove_group-9process has died [pid 10374, 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_a7aznqp6 --params-file /tmp/launch_params_fq1s9uyz --params-file /tmp/launch_params_9ywr065c --params-file /tmp/launch_params_iqmdr5p5 --params-file /tmp/launch_params_l5qoa7i6 --params-file /tmp/launch_params_ci61k3e0']. ×2 + 11.93sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.93sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.93sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.93sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.93sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.93sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.93sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.93sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.93sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.93sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.93sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.93sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.13sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.13sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 12.82sINFOtf2_web_republisher_node-20process has finished cleanly [pid 10455] ×2 + 12.82sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.89sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10378] ×2 + 12.91sINFOui_teleop_bridge-18process has finished cleanly [pid 10401] ×2 + 12.91sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10377] ×2 + 12.91sINFOexecute_objective_bridge-17process has finished cleanly [pid 10400] ×2 + 12.91sINFOcomponent_container_mt-16process has finished cleanly [pid 10399] ×2 + 12.95sINFOwaypoint_manager_node-11process has finished cleanly [pid 10376] ×2 + 12.96sINFOparameter_manager_node-10process has finished cleanly [pid 10375] ×2 + 12.98sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 13.07sINFOobjective_server_node[0;m[2026-08-14 10:39:06.146] [moveit_pro_license] [info] ×2 + 13.07sINFOobjective_server_node************************************************* ×4 + 13.07sINFOobjective_server_node* MoveIt Pro License ×2 + 13.07sINFOobjective_server_node* Application has successfully terminated ×2 + 13.58sINFOobjective_server_node_main-14process has finished cleanly [pid 10381] ×2 + 13.58sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 14.03sINFOcomponent_container_mt-15process has finished cleanly [pid 10398] ×2 + 14.31sINFOweb_bridge-19process has finished cleanly [pid 10413] ×2 + 14.31sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.57sINFOros2_control_node-1process has finished cleanly [pid 10355] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 60 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674570 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674570 ms (missed cycles : 2).[0m ×2 + 0.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.80sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.80sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.80sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.80sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.80sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553956 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553956 ms (missed cycles : 6).[0m ×2 + 1.67sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.68sINFOros2_control_node[2026-08-14 10:36:07.925] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-08-14 10:36:07.925] [info] Accepted new action goal ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961228 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961228 ms (missed cycles : 2).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786703769.08224654 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629551 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629551 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786703769.86993885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129679 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129679 ms (missed cycles : 3).[0m ×2 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.82sINFOros2_control_node[2026-08-14 10:36:11.065] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-08-14 10:36:11.065] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301736 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301736 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233003 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.233003 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689597 ms (missed cycles : 5). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689597 ms (missed cycles : 5).[0m ×2 + 7.84sWARNros2_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 + 8.51sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.51sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.52sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.52sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.52sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990226 ms (missed cycles : 6). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990226 ms (missed cycles : 6).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434782 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.434782 ms (missed cycles : 4).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989264 ms (missed cycles : 4). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989264 ms (missed cycles : 4).[0m ×2 + 10.91sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 10.92sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.93sINFOros2_control_node[2026-08-14 10:36:17.175] [info] Received new action goal ×2 + 10.93sINFOros2_control_node[2026-08-14 10:36:17.175] [info] Accepted new action goal ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379488 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379488 ms (missed cycles : 2).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503549 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503549 ms (missed cycles : 3).[0m ×2 + 12.87sWARNros2_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 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310002 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310002 ms (missed cycles : 2).[0m ×2 + 14.53sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786703780.78010821 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195859 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195859 ms (missed cycles : 3).[0m ×2 + 15.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786703781.38264203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.30sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 15.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.31sINFOros2_control_node[2026-08-14 10:36:21.556] [info] Received new action goal ×2 + 15.31sINFOros2_control_node[2026-08-14 10:36:21.556] [info] Accepted new action goal ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740641 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740641 ms (missed cycles : 3).[0m ×2 + 16.57sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.58sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915288 ms (missed cycles : 4). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915288 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.25sERRORobjective_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: 1786703921.39086628 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055613 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055613 ms (missed cycles : 4).[0m ×2 + 7.70sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.71sINFOros2_control_node[2026-08-14 10:38:46.847] [info] Received new action goal ×2 + 7.71sINFOros2_control_node[2026-08-14 10:38:46.847] [info] Accepted new action goal ×2 + 7.71sINFOros2_control_node[2026-08-14 10:38:46.847] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278221 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278221 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073726 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073726 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343296 ms (missed cycles : 4). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343296 ms (missed cycles : 4).[0m ×2 + 10.89sWARNros2_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 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678652 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678652 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4).[0m ×2 + 14.74sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Got request to cancel active goal. ×2 + 14.74sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Canceling active goal... ×2 + 14.75sERRORobjective_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: 1786703933.88802934 seconds ×3 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2).[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703934.50349069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2).[0m ×2 + 16.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703935.49362421 seconds ×3 + 16.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786703936.08368826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.94sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786703936.08608794 seconds ×3 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3).[0m ×2 + 17.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786703936.81668711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786703936.81740761 seconds ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.2s | 9 errors · 63 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043504 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043504 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932323 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932323 ms (missed cycles : 3).[0m ×2 + 1.28sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.55sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.55sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.56sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786703689.90670443 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764416 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764416 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441366 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441366 ms (missed cycles : 3).[0m ×2 + 3.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.56sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.17sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786703692.49946952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.121517 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.121517 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-14 10:34:52.693] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-14 10:34:52.693] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803028 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803028 ms (missed cycles : 5).[0m ×2 + 5.68sWARNros2_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 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114273 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114273 ms (missed cycles : 4).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247220 ms (missed cycles : 4). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.247220 ms (missed cycles : 4).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817058 ms (missed cycles : 3). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817058 ms (missed cycles : 3).[0m ×2 + 8.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.80sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.82sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×4 + 9.10sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 9.15sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (5.2e-07 s). ×2 + 9.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.25sINFOobjective_server_nodeFound path in 1 iterations (0.00270501 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.724986 ms (missed cycles : 6). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.724986 ms (missed cycles : 6).[0m ×2 + 9.39sINFOobjective_server_nodeFound path in 1 iterations (0.00428726 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.63sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 9.73sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.86sINFOros2_control_node[2026-08-14 10:34:58.187] [info] Received new action goal ×2 + 9.86sINFOros2_control_node[2026-08-14 10:34:58.187] [info] Accepted new action goal ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448489 ms (missed cycles : 4). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.448489 ms (missed cycles : 4).[0m ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748508 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748508 ms (missed cycles : 2).[0m ×2 + 11.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794534 ms (missed cycles : 3). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794534 ms (missed cycles : 3).[0m ×2 + 12.54sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.55sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 12.55sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.56sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 12.61sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.64sINFOobjective_server_nodeFound path in 1 iterations (0.00326586 s). ×2 + 12.75sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.83sINFOros2_control_node[2026-08-14 10:35:01.161] [info] Received new action goal ×2 + 12.84sINFOros2_control_node[2026-08-14 10:35:01.161] [info] Accepted new action goal ×2 + 13.27sINFOros2_control_node[2026-08-14 10:35:01.593] [info] Received new action goal ×2 + 13.27sINFOros2_control_node[2026-08-14 10:35:01.593] [info] Accepted new action goal ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780855 ms (missed cycles : 7). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780855 ms (missed cycles : 7).[0m ×2 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.645068 ms (missed cycles : 6). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.645068 ms (missed cycles : 6).[0m ×2 + 14.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.66sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.66sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.66sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.71sERRORobjective_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: 1786703703.03469229 seconds ×3 + 15.49sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786703703.81632519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905269 ms (missed cycles : 4). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905269 ms (missed cycles : 4).[0m ×2 + 15.65sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.66sINFOros2_control_node[2026-08-14 10:35:03.990] [info] Received new action goal ×2 + 15.66sINFOros2_control_node[2026-08-14 10:35:03.990] [info] Accepted new action goal ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976655 ms (missed cycles : 5). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976655 ms (missed cycles : 5).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563732 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563732 ms (missed cycles : 2).[0m ×2 + 17.86sWARNros2_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 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 63 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260482 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848664 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848664 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885250 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885250 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226386 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226386 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786703910.39814925 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382133 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382133 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786703911.06053877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sINFOros2_control_node[2026-08-14 10:38:31.224] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-14 10:38:31.224] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109702 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109702 ms (missed cycles : 5).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778448 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778448 ms (missed cycles : 2).[0m ×2 + 6.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499162 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499162 ms (missed cycles : 3).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370443 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370443 ms (missed cycles : 2).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147960 ms (missed cycles : 5). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147960 ms (missed cycles : 5).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.019271 ms (missed cycles : 6). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.019271 ms (missed cycles : 6).[0m ×2 + 10.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 14.70sINFOobjective_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 + 14.70sERRORobjective_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: 1786703921.39086628 seconds ×3 + 15.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.37sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.37sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 16.00sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.03sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 16.03sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 16.74sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.85sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 16.85sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.86sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 16.86sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 17.23sWARNros2_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 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 63 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 ×4 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484735 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.484735 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387768 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387768 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495860 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495860 ms (missed cycles : 2).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196434 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196434 ms (missed cycles : 2).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609596 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609596 ms (missed cycles : 2).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279990 ms (missed cycles : 4). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279990 ms (missed cycles : 4).[0m ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470176 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470176 ms (missed cycles : 4).[0m ×2 + 14.31sERRORobjective_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: 1786703899.88466787 seconds ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354498 ms (missed cycles : 5). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354498 ms (missed cycles : 5).[0m ×2 + 14.91sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786703900.48695278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 15.21sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.22sINFOros2_control_node[2026-08-14 10:38:20.799] [info] Received new action goal ×2 + 15.22sINFOros2_control_node[2026-08-14 10:38:20.799] [info] Accepted new action goal ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124933 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124933 ms (missed cycles : 2).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015642 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015642 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 57 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 0.16sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.08sWARNros2_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 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.01sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.76sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 5.51sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094409 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094409 ms (missed cycles : 2).[0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.28sINFOros2_control_node[2026-08-14 10:33:58.246] [info] Received new action goal ×2 + 6.28sINFOros2_control_node[2026-08-14 10:33:58.246] [info] Accepted new action goal ×2 + 7.20sWARNros2_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 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465721 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.465721 ms (missed cycles : 5).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368573 ms (missed cycles : 3). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368573 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326395 ms (missed cycles : 4). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326395 ms (missed cycles : 4).[0m ×2 + 10.00sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 10.02sINFOros2_control_node[2026-08-14 10:34:01.986] [info] Received new action goal ×2 + 10.02sINFOros2_control_node[2026-08-14 10:34:01.986] [info] Accepted new action goal ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559946 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559946 ms (missed cycles : 2).[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 13.23sWARNros2_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 + 13.33sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 13.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.35sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 13.92sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.92sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 13.92sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 13.93sERRORobjective_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: 1786703645.89858460 seconds ×3 + 13.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 13.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 13.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.53sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 15.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.53sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 15.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.56sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 15.56sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 15.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 12 errors · 54 warnings · 121 info |
+ 0.00sERRORobjective_server_nodeStart Trainer recording Error: Server not available for service /trainer/start_recording ×3 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5).[0m ×2 + 3.01sERRORobjective_server_nodeDiscard unsaved attempt Error: Server not available for service /trainer/stop_recording ×3 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Collect Training Data with Behaviors` did not succeed at time: 1786703669.98010135 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786703670.71484995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2).[0m ×2 + 7.22sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 7.22sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.23sINFOros2_control_node[2026-08-14 10:34:34.199] [info] Received new action goal ×2 + 7.23sINFOros2_control_node[2026-08-14 10:34:34.199] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611269 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611269 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.167903 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.167903 ms (missed cycles : 5).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978502 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978502 ms (missed cycles : 3).[0m ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 9.57sINFOros2_control_node[2026-08-14 10:34:36.536] [info] Received new action goal ×2 + 9.57sINFOros2_control_node[2026-08-14 10:34:36.536] [info] Accepted new action goal ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513193 ms (missed cycles : 2). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513193 ms (missed cycles : 2).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 11.91sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 11.93sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 11.93sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 14.01sINFOobjective_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 + 14.02sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 14.02sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 14.03sERRORobjective_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: 1786703680.99800658 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 14.68sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 14.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 14.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.88sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 57 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143139 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143139 ms (missed cycles : 2).[0m ×2 + 7.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.71sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003960 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003960 ms (missed cycles : 3).[0m ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 1 iterations (0.00320037 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 1 iterations (0.00428926 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.77sINFOros2_control_node[2026-08-14 10:34:47.191] [info] Received new action goal ×2 + 8.77sINFOros2_control_node[2026-08-14 10:34:47.191] [info] Accepted new action goal ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152300 ms (missed cycles : 3). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152300 ms (missed cycles : 3).[0m ×2 + 9.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043504 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043504 ms (missed cycles : 3).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932323 ms (missed cycles : 3). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932323 ms (missed cycles : 3).[0m ×2 + 11.18sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.45sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.46sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.48sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786703689.90670443 seconds ×3 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764416 ms (missed cycles : 4). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764416 ms (missed cycles : 4).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441366 ms (missed cycles : 3). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441366 ms (missed cycles : 3).[0m ×2 + 14.07sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786703692.49946952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.121517 ms (missed cycles : 4). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.121517 ms (missed cycles : 4).[0m ×2 + 14.26sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 14.27sINFOros2_control_node[2026-08-14 10:34:52.693] [info] Received new action goal ×2 + 14.27sINFOros2_control_node[2026-08-14 10:34:52.693] [info] Accepted new action goal ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803028 ms (missed cycles : 5). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803028 ms (missed cycles : 5).[0m ×2 + 15.58sWARNros2_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 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114273 ms (missed cycles : 4). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114273 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 63 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734374 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271633 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271633 ms (missed cycles : 6).[0m ×2 + 1.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140586 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140586 ms (missed cycles : 2).[0m ×2 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.71sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938775 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938775 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786703878.15223765 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786703878.79923296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710810 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710810 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-14 10:37:59.033] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-14 10:37:59.033] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420816 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420816 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217537 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217537 ms (missed cycles : 4).[0m ×2 + 7.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571407 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571407 ms (missed cycles : 3).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626059 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626059 ms (missed cycles : 2).[0m ×2 + 8.74sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.74sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.75sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.03sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 1 iterations (0.00310327 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.25sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.26sINFOros2_control_node[2026-08-14 10:38:04.036] [info] Received new action goal ×2 + 9.26sINFOros2_control_node[2026-08-14 10:38:04.036] [info] Accepted new action goal ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431138 ms (missed cycles : 4). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.431138 ms (missed cycles : 4).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 11.74sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 11.74sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 13.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.66sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 13.66sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 14.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 14.12sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 14.13sERRORobjective_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: 1786703888.90464973 seconds ×3 + 14.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 15.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.03sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 16.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 60 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196434 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196434 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609596 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609596 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279990 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279990 ms (missed cycles : 4).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470176 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470176 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_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 + 3.76sERRORobjective_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: 1786703899.88466787 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.78sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354498 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354498 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786703900.48695278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.67sINFOros2_control_node[2026-08-14 10:38:20.799] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-14 10:38:20.799] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124933 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124933 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015642 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015642 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706185 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706185 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496555 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496555 ms (missed cycles : 2).[0m ×2 + 8.69sINFOros2_control_node[2026-08-14 10:38:24.813] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-08-14 10:38:24.813] [info] Accepted new action goal ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922274 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.922274 ms (missed cycles : 3).[0m ×2 + 9.91sWARNros2_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 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260482 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260482 ms (missed cycles : 4).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848664 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848664 ms (missed cycles : 4).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885250 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885250 ms (missed cycles : 3).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226386 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226386 ms (missed cycles : 3).[0m ×2 + 14.27sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786703910.39814925 seconds ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382133 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382133 ms (missed cycles : 3).[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786703911.06053877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.10sINFOros2_control_node[2026-08-14 10:38:31.224] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-08-14 10:38:31.224] [info] Accepted new action goal ×2 + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109702 ms (missed cycles : 5). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109702 ms (missed cycles : 5).[0m ×2 + 15.97sWARNros2_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 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778448 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778448 ms (missed cycles : 2).[0m ×2 + 17.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 6.7s | 43 warnings · 124 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786703716.38511181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.23sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.24sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055253 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055253 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786703718.50524664 seconds ×3 + 2.74sWARNros2_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 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.363418 ms (missed cycles : 7). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.363418 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786703720.10998130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643698 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643698 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_node[2026-08-14 10:35:21.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712550 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712550 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_node[0;93m2026-08-14 10:35:22.161679060 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.90sINFOobjective_server_node[0;93m2026-08-14 10:35:22.161705476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 + 6.93sINFOobjective_server_node[2026-08-14 10:35:23.187] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.45sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709841186 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.45sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709879404 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.61sINFOobjective_server_node[2026-08-14 10:35:23.870] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.66sINFOobjective_server_node[0;93m2026-08-14 10:35:23.921833460 [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 + 7.66sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924822391 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.66sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924846548 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3).[0m ×2 + 7.73sINFOobjective_server_node[2026-08-14 10:35:23.992] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 8.09sINFOobjective_server_node[0;93m2026-08-14 10:35:24.348799868 [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 + 8.11sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369875850 [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 + 8.11sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369907363 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5).[0m ×2 + 9.92sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786703726.18620276 seconds ×3 + 10.62sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786703726.88204789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 10.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 10.70sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 10.71sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2).[0m ×2 + 10.99sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 11.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.04sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Received new action goal ×2 + 11.04sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Accepted new action goal ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 32 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420915 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420915 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673160 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673160 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786703715.05873084 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835869 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835869 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786703715.72119093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786703715.79132199 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786703716.38511181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.33sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 3.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.33sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Received new action goal ×2 + 3.33sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055253 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055253 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786703718.50524664 seconds ×3 + 5.84sWARNros2_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 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.363418 ms (missed cycles : 7). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.363418 ms (missed cycles : 7).[0m ×2 + 6.94sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786703720.10998130 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 5.643698 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643698 ms (missed cycles : 4).[0m ×2 + 8.21sINFOobjective_server_node[2026-08-14 10:35:21.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712550 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712550 ms (missed cycles : 2).[0m ×2 + 9.00sINFOobjective_server_node[0;93m2026-08-14 10:35:22.161679060 [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 + 9.00sINFOobjective_server_node[0;93m2026-08-14 10:35:22.161705476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 32 warnings · 520 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.07sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.07sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.08sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.08sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 0.08sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.08sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.08sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.08sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.08sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.08sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.08sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.08sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.08sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.08sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.08sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.08sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.08sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.08sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.08sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.08sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.08sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.08sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.08sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.15sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.15sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.17sINFOforce_torque_sensor_broadcasterconfigure successful + 0.17sINFOros2_control_nodeconfigure successful[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.50sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.50sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.54sINFOros2-2process has finished cleanly [pid 10356] ×2 + 0.61sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.61sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.66sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.69sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.69sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.70sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.72sINFOros2_control_node[2026-08-14 10:33:48.105] [info] Controller state will be published at 10 Hz. ×2 + 0.73sINFOros2_control_node[2026-08-14 10:33:48.106] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.91sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316468 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316468 ms (missed cycles : 2).[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 1.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 1.09sINFOros2-7process has finished cleanly [pid 10361] ×2 + 1.09sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.09sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.09sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.09sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.09sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.11sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.11sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.45sINFOros2-4process has finished cleanly [pid 10358] ×2 + 1.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 1.48sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 1.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.57sINFOros2_control_node[2026-08-14 10:33:48.950] [info] Controller state will be published at 20 Hz. ×2 + 1.57sINFOros2_control_node[2026-08-14 10:33:48.950] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.84sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.89sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.89sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.89sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.94sINFOros2-8process has finished cleanly [pid 10362] ×2 + 1.96sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 1.96sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 1.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.01sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.01sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.02sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.02sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.04sINFOros2_control_node[2026-08-14 10:33:49.420] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.04sINFOros2_control_node[2026-08-14 10:33:49.420] [info] Controller state will be published at 50 Hz. ×2 + 2.05sINFOros2_control_node[2026-08-14 10:33:49.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.18sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 2.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2).[0m ×2 + 2.40sINFOros2-6process has finished cleanly [pid 10360] ×2 + 2.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.45sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.46sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.46sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.79sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.79sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.79sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.79sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.79sINFOros2-5process has finished cleanly [pid 10359] ×2 + 2.80sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 2.80sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 2.80sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.81sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.84sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.84sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.84sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.84sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.84sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.84sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.85sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.85sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.18sINFOros2-3process has finished cleanly [pid 10357] ×2 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 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 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 7.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 8.21sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.33sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.35sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 8.35sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.6s | 3 errors · 29 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678652 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4).[0m ×2 + 2.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Got request to cancel active goal. ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1786703933.88802934 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703934.50349069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703935.49362421 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786703936.08368826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.06sINFOobjective_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 + 5.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786703936.08608794 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786703936.81668711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786703936.81740761 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703937.40981865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187284 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187284 ms (missed cycles : 2).[0m ×2 + 6.47sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512988 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512988 ms (missed cycles : 2).[0m ×2 + 7.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703938.52994561 seconds ×3 + 7.55sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225612 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225612 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420915 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420915 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673160 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673160 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786703715.05873084 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835869 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835869 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786703715.72119093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786703715.79132199 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786703716.38511181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.36sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055253 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055253 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786703718.50524664 seconds ×3 + 6.87sWARNros2_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 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4).[0m ×2 + 0.81sINFOobjective_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 + 0.81sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Got request to cancel active goal. ×2 + 0.81sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Canceling active goal... ×2 + 0.82sERRORobjective_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: 1786703933.88802934 seconds ×3 + 0.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703934.50349069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703935.49362421 seconds ×3 + 3.01sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786703936.08368826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.01sINFOobjective_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 + 3.01sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.01sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786703936.08608794 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786703936.81668711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786703936.81740761 seconds ×3 + 4.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703937.40981865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187284 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187284 ms (missed cycles : 2).[0m ×2 + 4.42sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512988 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512988 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703938.52994561 seconds ×3 + 5.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996874 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996874 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 3 errors · 23 warnings · 76 info |
+ 0.00sINFOros2_control_node[2026-08-14 10:34:19.347] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-14 10:34:19.347] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304085 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304085 ms (missed cycles : 2).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467126 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467126 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-14 10:34:21.259] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-14 10:34:21.259] [info] Accepted new action goal ×2 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153998 ms (missed cycles : 6). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.153998 ms (missed cycles : 6).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786703662.64592457 seconds ×3 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382689 ms (missed cycles : 7). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.382689 ms (missed cycles : 7).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786703663.29087663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786703663.36100483 seconds ×3 + 4.61sINFOobjective_server_nodeObjective `Collect Training Data with Behaviors` starting at time: 1786703663.95982194 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340688 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340688 ms (missed cycles : 3).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744084 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744084 ms (missed cycles : 5).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056122 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056122 ms (missed cycles : 2).[0m ×2 + 7.62sERRORobjective_server_nodeStart Trainer recording Error: Server not available for service /trainer/start_recording ×3 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_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 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1786703645.89858460 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_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 + 3.32sERRORobjective_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: 1786703921.39086628 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.01sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 5.84sWARNros2_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 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 26 warnings · 360 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 10362] ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.17sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.18sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.20sINFOros2_control_node[2026-08-14 10:33:49.420] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.20sINFOros2_control_node[2026-08-14 10:33:49.420] [info] Controller state will be published at 50 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 10:33:49.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.53sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2-6process has finished cleanly [pid 10360] ×2 + 0.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.61sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.61sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.61sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.61sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.61sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.61sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.61sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.62sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.62sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2-5process has finished cleanly [pid 10359] ×2 + 0.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.00sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.00sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.01sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.01sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.34sINFOros2-3process has finished cleanly [pid 10357] ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 3.82sWARNros2_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 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 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 ] + 6.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.51sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.25sERRORobjective_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: 1786703921.39086628 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4).[0m ×2 + 1.84sINFOobjective_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 + 1.84sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Got request to cancel active goal. ×2 + 1.84sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Canceling active goal... ×2 + 1.84sERRORobjective_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: 1786703933.88802934 seconds ×3 + 1.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2).[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703934.50349069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703935.49362421 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786703936.08368826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786703936.08608794 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786703936.81668711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786703936.81740761 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703937.40981865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187284 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187284 ms (missed cycles : 2).[0m ×2 + 5.44sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512988 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512988 ms (missed cycles : 2).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703938.52994561 seconds ×3 + 6.52sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-14 10:35:23.187] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709841186 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709879404 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.96sINFOobjective_server_node[2026-08-14 10:35:23.870] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.921833460 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924822391 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924846548 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-14 10:35:23.992] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-14 10:35:24.348799868 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369875850 [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 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369907363 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786703726.18620276 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786703726.88204789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.1s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_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 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1786703645.89858460 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_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 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1786703645.89858460 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_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 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1786703645.89858460 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 9 errors · 20 warnings · 39 info |
+ 0.00sERRORobjective_server_nodeStart Trainer recording Error: Server not available for service /trainer/start_recording ×3 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5).[0m ×2 + 3.01sERRORobjective_server_nodeDiscard unsaved attempt Error: Server not available for service /trainer/stop_recording ×3 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Collect Training Data with Behaviors` did not succeed at time: 1786703669.98010135 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786703670.71484995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 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 6.225612 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225612 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420915 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420915 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673160 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673160 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786703715.05873084 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835869 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835869 ms (missed cycles : 4).[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786703715.72119093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786703715.79132199 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786703716.38511181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.36sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 51 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403151 ms (missed cycles : 6).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786703716.38511181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.23sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 0.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.24sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Received new action goal ×2 + 0.24sINFOros2_control_node[2026-08-14 10:35:16.499] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003344 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055253 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055253 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786703718.50524664 seconds ×3 + 2.74sWARNros2_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 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.363418 ms (missed cycles : 7). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.363418 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786703720.10998130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643698 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643698 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_node[2026-08-14 10:35:21.373] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712550 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712550 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_node[0;93m2026-08-14 10:35:22.161679060 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.90sINFOobjective_server_node[0;93m2026-08-14 10:35:22.161705476 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.02sINFOros2_control_node[2026-08-14 10:36:17.175] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-14 10:36:17.175] [info] Accepted new action goal ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379488 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.379488 ms (missed cycles : 2).[0m ×2 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503549 ms (missed cycles : 3). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503549 ms (missed cycles : 3).[0m ×2 + 1.96sWARNros2_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 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310002 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310002 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786703780.78010821 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195859 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195859 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786703781.38264203 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 4.39sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.40sINFOros2_control_node[2026-08-14 10:36:21.556] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-14 10:36:21.556] [info] Accepted new action goal ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740641 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.740641 ms (missed cycles : 3).[0m ×2 + 5.67sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.68sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915288 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915288 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2305 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×746 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×746 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×372 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×372 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129625 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129625 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694363 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694363 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718802 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718802 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786703847.30622649 seconds ×3 + 3.68sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.68sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395139 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395139 ms (missed cycles : 2).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786703848.01832509 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 + 4.46sINFOobjective_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 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOobjective_server_nodeFound path in 5 iterations (0.00589875 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:37:28.284] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:37:28.284] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711847 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711847 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582864 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582864 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_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 + 3.32sERRORobjective_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: 1786703921.39086628 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.01sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 5.84sWARNros2_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 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_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 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1786703645.89858460 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_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 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1786703645.89858460 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263019 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671159 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_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 + 1.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-14 10:34:05.316] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193667 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Got request to cancel active goal. ×2 + 2.20sINFOros2_control_node[2026-08-14 10:34:05.882] [info] Canceling active goal... ×2 + 2.21sERRORobjective_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: 1786703645.89858460 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703646.49468374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703646.61486006 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525773 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703647.29570961 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 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-14 10:34:07.526] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924782 ms (missed cycles : 5).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433773 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293372 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 9 errors · 20 warnings · 39 info |
+ 0.00sERRORobjective_server_nodeStart Trainer recording Error: Server not available for service /trainer/start_recording ×3 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5).[0m ×2 + 3.01sERRORobjective_server_nodeDiscard unsaved attempt Error: Server not available for service /trainer/stop_recording ×3 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Collect Training Data with Behaviors` did not succeed at time: 1786703669.98010135 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786703670.71484995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 9 errors · 20 warnings · 39 info |
+ 0.00sERRORobjective_server_nodeStart Trainer recording Error: Server not available for service /trainer/start_recording ×3 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5).[0m ×2 + 3.01sERRORobjective_server_nodeDiscard unsaved attempt Error: Server not available for service /trainer/stop_recording ×3 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Collect Training Data with Behaviors` did not succeed at time: 1786703669.98010135 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786703670.71484995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 9 errors · 20 warnings · 39 info |
+ 0.00sERRORobjective_server_nodeStart Trainer recording Error: Server not available for service /trainer/start_recording ×3 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352611 ms (missed cycles : 3).[0m ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.195200 ms (missed cycles : 4).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883642 ms (missed cycles : 5).[0m ×2 + 3.01sERRORobjective_server_nodeDiscard unsaved attempt Error: Server not available for service /trainer/stop_recording ×3 + 3.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Collect Training Data with Behaviors` did not succeed at time: 1786703669.98010135 seconds ×3 + 3.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786703670.71484995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548268 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-08-14 10:34:30.839] [info] Accepted new action goal ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.826556 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741232 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688932 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.46sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.46sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-14 10:34:38.896] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738976 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696528 ms (missed cycles : 3).[0m ×2 + 2.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Got request to cancel active goal. ×2 + 2.56sINFOros2_control_node[2026-08-14 10:34:40.985] [info] Canceling active goal... ×2 + 2.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786703680.99800658 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605971 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703681.65457559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (7.57e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.42sWARNros2_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 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-08-14 10:34:41.848] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151381 ms (missed cycles : 2).[0m ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483242 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 25 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748508 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748508 ms (missed cycles : 2).[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 ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794534 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794534 ms (missed cycles : 3).[0m ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 1.17sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.17sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 1.18sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.26sINFOobjective_server_nodeFound path in 1 iterations (0.00326586 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.46sINFOros2_control_node[2026-08-14 10:35:01.161] [info] Received new action goal ×2 + 1.46sINFOros2_control_node[2026-08-14 10:35:01.161] [info] Accepted new action goal ×2 + 1.89sINFOros2_control_node[2026-08-14 10:35:01.593] [info] Received new action goal ×2 + 1.89sINFOros2_control_node[2026-08-14 10:35:01.593] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780855 ms (missed cycles : 7). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780855 ms (missed cycles : 7).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.645068 ms (missed cycles : 6). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.645068 ms (missed cycles : 6).[0m ×2 + 3.28sINFOobjective_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 + 3.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.29sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.33sERRORobjective_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: 1786703703.03469229 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786703703.81632519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905269 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.905269 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.29sINFOros2_control_node[2026-08-14 10:35:03.990] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-14 10:35:03.990] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976655 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.976655 ms (missed cycles : 5).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563732 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563732 ms (missed cycles : 2).[0m ×2 + 6.49sWARNros2_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 | ||||
| − 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 5.726493 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-14 10:35:23.187] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709841186 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709879404 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.96sINFOobjective_server_node[2026-08-14 10:35:23.870] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.921833460 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924822391 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924846548 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-14 10:35:23.992] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-14 10:35:24.348799868 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369875850 [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 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369907363 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786703726.18620276 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786703726.88204789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2).[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 5.726493 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-14 10:35:23.187] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709841186 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709879404 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.96sINFOobjective_server_node[2026-08-14 10:35:23.870] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.921833460 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924822391 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924846548 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-14 10:35:23.992] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-14 10:35:24.348799868 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369875850 [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 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369907363 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786703726.18620276 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786703726.88204789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-14 10:35:23.187] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709841186 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709879404 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.96sINFOobjective_server_node[2026-08-14 10:35:23.870] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.921833460 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924822391 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924846548 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-14 10:35:23.992] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-14 10:35:24.348799868 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369875850 [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 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369907363 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786703726.18620276 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786703726.88204789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2).[0m ×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 5.726493 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.726493 ms (missed cycles : 4).[0m ×2 + 0.27sINFOobjective_server_node[2026-08-14 10:35:23.187] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709841186 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-14 10:35:23.709879404 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.96sINFOobjective_server_node[2026-08-14 10:35:23.870] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.921833460 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924822391 [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 + 1.01sINFOobjective_server_node[0;93m2026-08-14 10:35:23.924846548 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601173 ms (missed cycles : 3).[0m ×2 + 1.08sINFOobjective_server_node[2026-08-14 10:35:23.992] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_node[0;93m2026-08-14 10:35:24.348799868 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369875850 [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 + 1.46sINFOobjective_server_node[0;93m2026-08-14 10:35:24.369907363 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193784 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661442 ms (missed cycles : 5).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786703726.18620276 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786703726.88204789 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_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 + 4.06sINFOobjective_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 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112577 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.9e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-14 10:35:27.300] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667597 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955943 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2305 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×746 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×746 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×372 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×372 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129625 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129625 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694363 ms (missed cycles : 2). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694363 ms (missed cycles : 2).[0m ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718802 ms (missed cycles : 2). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718802 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786703847.30622649 seconds ×3 + 3.68sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.68sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.68sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395139 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395139 ms (missed cycles : 2).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786703848.01832509 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 + 4.46sINFOobjective_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 + 4.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.57sINFOobjective_server_nodeFound path in 5 iterations (0.00589875 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:37:28.284] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:37:28.284] [info] Accepted new action goal ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711847 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711847 ms (missed cycles : 2).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582864 ms (missed cycles : 4). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582864 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734374 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271633 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271633 ms (missed cycles : 6).[0m ×2 + 1.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140586 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140586 ms (missed cycles : 2).[0m ×2 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938775 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938775 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786703878.15223765 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786703878.79923296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710810 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710810 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-14 10:37:59.033] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-14 10:37:59.033] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420816 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420816 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217537 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217537 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734374 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271633 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271633 ms (missed cycles : 6).[0m ×2 + 1.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140586 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140586 ms (missed cycles : 2).[0m ×2 + 2.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.71sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938775 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938775 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786703878.15223765 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786703878.79923296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710810 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710810 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-14 10:37:59.033] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-14 10:37:59.033] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420816 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.420816 ms (missed cycles : 4).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217537 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217537 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998039 ms (missed cycles : 3).[0m ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-14 10:38:06.508] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082772 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613959 ms (missed cycles : 7).[0m ×2 + 2.27sWARNros2_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 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Received new action goal ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:08.433] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795202 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-14 10:38:08.889] [info] Canceling active goal... ×2 + 3.33sERRORobjective_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: 1786703888.90464973 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.44sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703889.61410427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 10:38:09.798] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412253 ms (missed cycles : 3).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640050 ms (missed cycles : 3).[0m ×2 + 6.13sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306161 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196434 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196434 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609596 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609596 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279990 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.279990 ms (missed cycles : 4).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470176 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470176 ms (missed cycles : 4).[0m ×2 + 3.75sINFOobjective_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 + 3.76sERRORobjective_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: 1786703899.88466787 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354498 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354498 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786703900.48695278 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.67sINFOros2_control_node[2026-08-14 10:38:20.799] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-14 10:38:20.799] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124933 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124933 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015642 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015642 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260482 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.260482 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848664 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848664 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885250 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885250 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226386 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226386 ms (missed cycles : 3).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786703910.39814925 seconds ×3 + 3.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382133 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382133 ms (missed cycles : 3).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786703911.06053877 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (5.41e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.54sINFOros2_control_node[2026-08-14 10:38:31.224] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-14 10:38:31.224] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109702 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.109702 ms (missed cycles : 5).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778448 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778448 ms (missed cycles : 2).[0m ×2 + 6.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.45sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_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 + 3.32sERRORobjective_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: 1786703921.39086628 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.01sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 5.84sWARNros2_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 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_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 + 3.32sERRORobjective_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: 1786703921.39086628 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.01sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 5.84sWARNros2_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 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839832 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_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 + 3.32sERRORobjective_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: 1786703921.39086628 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.01sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 5.84sWARNros2_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 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.25sERRORobjective_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: 1786703921.39086628 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.25sERRORobjective_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: 1786703921.39086628 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670198 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371456 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401501 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_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 + 2.25sERRORobjective_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: 1786703921.39086628 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.30sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703922.02595878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.94sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703922.09608340 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555378 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703922.69051361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703922.71276307 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643129 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703923.42331076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-14 10:38:43.547] [info] Accepted new action goal ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621561 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678652 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4).[0m ×2 + 2.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Got request to cancel active goal. ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1786703933.88802934 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703934.50349069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703935.49362421 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786703936.08368826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.06sINFOobjective_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 + 5.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786703936.08608794 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786703936.81668711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786703936.81740761 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678652 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678652 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504481 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.770216 ms (missed cycles : 4).[0m ×2 + 2.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Got request to cancel active goal. ×2 + 2.86sINFOros2_control_node[2026-08-14 10:38:53.883] [info] Canceling active goal... ×2 + 2.87sERRORobjective_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: 1786703933.88802934 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187431 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703934.50349069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820958 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703935.49362421 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786703936.08368826 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.06sINFOobjective_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 + 5.07sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.07sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786703936.08608794 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917469 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786703936.81668711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786703936.81740761 seconds ×3 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.3s | 41 errors · 407 warnings · 12145 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/2026-08-14-10-28-11-674302-c4c05c239a60-8964 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 2.06sINFOros2_control_node-1process started with pid [9012] + 2.06sINFOmove_group-9process started with pid [9049] + 2.06sINFOparameter_manager_node-10process started with pid [9050] + 2.06sINFOwaypoint_manager_node-11process started with pid [9051] + 2.06sINFOmove_joint_resampler_node-12process started with pid [9052] + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [9053] + 2.06sINFOobjective_server_node_main-14process started with pid [9054] + 2.06sINFOcomponent_container_mt-15process started with pid [9055] + 2.07sINFOcomponent_container_mt-16process started with pid [9056] + 2.07sINFOexecute_objective_bridge-17process started with pid [9057] + 2.09sINFOui_teleop_bridge-18process started with pid [9058] + 2.09sINFOweb_bridge-19process started with pid [9059] + 2.09sINFOtf2_web_republisher_node-20process started with pid [9131] + 2.09sINFOvideo_server-21process started with pid [9147] + 2.09sINFOweb_bridge_auth_proxy-22process started with pid [9148] + 2.09sINFOweb_video_auth_proxy-23process started with pid [9166] + 2.09sINFOros2-2process started with pid [9013] + 2.09sINFOros2-3process started with pid [9014] + 2.09sINFOros2-4process started with pid [9015] + 2.09sINFOros2-5process started with pid [9016] + 2.09sINFOros2-6process started with pid [9017] + 2.09sINFOros2-7process started with pid [9018] + 2.09sINFOros2-8process started with pid [9019] + 2.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 2.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 2.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 2.15sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 2.15sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 2.15sWARNros2_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 ×3 + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874332 ms (missed cycles : 2).[0m + 2.17sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 2.17sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 2.18sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 2.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 2.23sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 2.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 2.58sINFOvideo_server2026/08/14 10:28:15 INF MediaMTX v1.19.3, linux, amd64 + 2.58sINFOvideo_server2026/08/14 10:28:15 INF configuration loaded from /tmp/moveit-webrtc-ydgnwu7n/mediamtx.yml + 2.58sINFOvideo_server2026/08/14 10:28:15 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 2.58sINFOvideo_server2026/08/14 10:28:15 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533450 ms (missed cycles : 3).[0m + 3.20sINFOmove_group[2026-08-14 10:28:15.643] [moveit_pro_license] [info] + 3.20sINFOmove_group************************************************* ×6 + 3.20sINFOmove_group* MoveIt Pro License ×3 + 3.20sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.31sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 3.32sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 3.34sINFOwaypoint_manager_node[2026-08-14 10:28:15.765] [moveit_pro_license] [info] + 3.34sINFOwaypoint_manager_node************************************************* ×6 + 3.34sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 3.34sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 3.78sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 3.81sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 3.85sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 3.85sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 3.85sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 3.85sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 3.86sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 3.86sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 3.86sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096676 ms (missed cycles : 4).[0m + 3.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 4.04sINFOmove_group ×6 + 4.04sINFOmove_group[92mYou can start planning now![0m ×3 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 4.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 4.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 5.00sINFOobjective_server_node[2026-08-14 10:28:17.440] [moveit_pro_license] [info] + 5.00sINFOobjective_server_node************************************************* ×8 + 5.00sINFOobjective_server_node* MoveIt Pro License ×4 + 5.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.11sINFOobjective_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. ×3 + 5.11sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 5.12sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 5.12sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 5.12sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 5.12sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 5.12sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 5.12sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 5.12sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 5.12sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 5.50sINFOcomponent_container_mt[2026-08-14 10:28:17.940] [moveit_pro_license] [info] + 5.50sINFOcomponent_container_mt************************************************* ×6 + 5.50sINFOcomponent_container_mt* MoveIt Pro License ×3 + 5.50sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.52sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 5.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 5.60sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 5.60sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 5.60sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×3 + 5.60sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×3 + 5.60sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×3 + 5.60sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×3 + 5.60sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×3 + 5.60sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×3 + 5.60sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×3 + 5.60sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×3 + 5.60sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×3 + 5.60sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×3 + 5.60sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 5.60sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×3 + 5.60sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×3 + 5.60sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×3 + 5.60sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×3 + 5.61sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×3 + 5.61sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×3 + 5.61sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 5.61sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 5.61sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 5.61sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 5.61sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 5.61sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 5.61sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 5.61sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 5.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 5.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 5.81sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711343 ms (missed cycles : 2).[0m + 5.82sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_eorffie2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gsbdjauo --params-file /tmp/launch_params_md01ll6v [0m + 5.85sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 5.85sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 5.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 5.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 5.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 5.86sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 5.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×5 + 5.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×113 + 5.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 6.14sWARNobjective_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/. ×3 + 6.14sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 6.16sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 6.16sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 6.16sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eorffie2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gsbdjauo --params-file /tmp/launch_params_md01ll6v [0m + 6.19sINFOros2-5process has finished cleanly [pid 9016] + 6.21sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 6.21sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 6.21sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 6.22sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 6.22sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 6.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 6.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 6.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_eorffie2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gsbdjauo --params-file /tmp/launch_params_md01ll6v [0m + 6.55sINFOros2-4process has finished cleanly [pid 9015] + 6.58sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 6.59sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 6.60sINFOros2_control_nodeconfigure successful[0m ×3 + 6.60sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 6.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895861 ms (missed cycles : 2).[0m + 6.90sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 6.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 6.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_eorffie2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gsbdjauo --params-file /tmp/launch_params_md01ll6v [0m + 6.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 6.95sINFOros2-2process has finished cleanly [pid 9013] + 6.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 6.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 6.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 6.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×3 + 6.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 7.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 7.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 7.29sINFOros2-3process has finished cleanly [pid 9014] + 7.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 7.39sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_eorffie2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gsbdjauo --params-file /tmp/launch_params_md01ll6v [0m + 7.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×18 + 7.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 7.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×84 + 7.44sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 7.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 7.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 7.47sINFOros2_control_node[2026-08-14 10:28:19.912] [info] Controller state will be published at 10 Hz. + 7.47sINFOros2_control_node[2026-08-14 10:28:19.913] [info] VelocityForceController 'on_configure' succeeded. + 7.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×47 + 7.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×45 + 7.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×18 + 7.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×18 + 7.73sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 7.73sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 7.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 7.77sINFOros2-7process has finished cleanly [pid 9018] + 7.80sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_eorffie2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gsbdjauo --params-file /tmp/launch_params_md01ll6v [0m + 7.84sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 7.85sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 7.87sINFOros2_control_node[2026-08-14 10:28:20.313] [info] Controller state will be published at 20 Hz. + 7.87sINFOros2_control_node[2026-08-14 10:28:20.314] [info] JointVelocityController 'on_configure' succeeded. + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285414 ms (missed cycles : 2).[0m + 8.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703300.58763695 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 8.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703300.59794760 seconds + 8.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 8.24sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 8.24sINFOros2-8process has finished cleanly [pid 9019] + 8.32sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_eorffie2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_gsbdjauo --params-file /tmp/launch_params_md01ll6v [0m + 8.37sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 8.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 8.37sINFOros2_control_node[2026-08-14 10:28:20.806] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 8.37sINFOros2_control_node[2026-08-14 10:28:20.806] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 8.39sINFOros2_control_node[2026-08-14 10:28:20.829] [info] First order lag filter time constant set to: 0.2 seconds + 8.39sINFOros2_control_node[2026-08-14 10:28:20.829] [info] Controller state will be published at 50 Hz. + 8.40sINFOros2_control_node[2026-08-14 10:28:20.834] [info] Registered `FollowJointTrajectory` action server. + 8.75sINFOros2-6process has finished cleanly [pid 9017] + 8.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703301.19286108 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 8.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×24 + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858437 ms (missed cycles : 2).[0m + 9.77sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703302.25299549 seconds + 10.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703302.87439299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703302.93455553 seconds + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.925483 ms (missed cycles : 5).[0m + 11.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703303.58837914 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703303.59848690 seconds + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173844 ms (missed cycles : 4).[0m + 11.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703304.31600642 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703304.46655369 seconds + 12.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×3 + 12.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703305.14670753 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.72sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m + 12.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 12.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533575 ms (missed cycles : 3).[0m + 12.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703305.18697333 seconds + 13.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703305.79187894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 13.38sINFOobjective_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 + 13.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 13.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×3 + 13.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×3 + 13.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 13.48sINFOobjective_server_nodeFound path in 0 iterations (7.9042e-05 s). + 13.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 13.49sINFOros2_control_node[2026-08-14 10:28:25.931] [info] Received new action goal + 13.49sINFOros2_control_node[2026-08-14 10:28:25.931] [info] Accepted new action goal + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091962 ms (missed cycles : 2).[0m + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.118299 ms (missed cycles : 4).[0m + 15.62sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.034610 ms (missed cycles : 5).[0m + 15.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×38 + 15.99sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). + 15.99sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 16.01sINFOros2_control_node[2026-08-14 10:28:28.446] [info] Received new action goal + 16.01sINFOros2_control_node[2026-08-14 10:28:28.446] [info] Accepted new action goal + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946602 ms (missed cycles : 2).[0m + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.463632 ms (missed cycles : 4).[0m + 18.36sWARNros2_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 ×5 + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115061 ms (missed cycles : 4).[0m + 19.73sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). + 19.76sINFOros2_control_node[2026-08-14 10:28:32.196] [info] Received new action goal + 19.76sINFOros2_control_node[2026-08-14 10:28:32.196] [info] Accepted new action goal + 20.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.435501 ms (missed cycles : 3).[0m + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581234 ms (missed cycles : 3).[0m + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660925 ms (missed cycles : 3).[0m + 23.07sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×3 + 23.07sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 23.09sINFOros2_control_node[2026-08-14 10:28:35.526] [info] Received new action goal + 23.09sINFOros2_control_node[2026-08-14 10:28:35.526] [info] Accepted new action goal + 23.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.122003 ms (missed cycles : 5).[0m + 23.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 23.73sINFOros2_control_node[2026-08-14 10:28:36.172] [info] Got request to cancel active goal. + 23.73sINFOros2_control_node[2026-08-14 10:28:36.172] [info] Canceling active goal... + 23.75sERRORobjective_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: 1786703316.18833566 seconds + 23.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×27 + 23.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×27 + 23.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×27 + 24.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786703316.83985615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 24.51sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786703316.94997525 seconds + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.191858 ms (missed cycles : 4).[0m + 25.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786703317.57907152 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 25.32sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). + 25.32sINFOobjective_server_nodePath shortcutter: [X______X] ×5 + 25.33sINFOros2_control_node[2026-08-14 10:28:37.773] [info] Received new action goal + 25.33sINFOros2_control_node[2026-08-14 10:28:37.773] [info] Accepted new action goal + 25.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.616740 ms (missed cycles : 5).[0m + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571687 ms (missed cycles : 3).[0m + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.781003 ms (missed cycles : 6).[0m + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278042 ms (missed cycles : 4).[0m + 29.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935182 ms (missed cycles : 3).[0m + 31.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.561183 ms (missed cycles : 2).[0m + 31.08sWARNros2_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 ×6 + 32.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.193869 ms (missed cycles : 4).[0m + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960720 ms (missed cycles : 5).[0m + 34.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718493 ms (missed cycles : 2).[0m + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.966326 ms (missed cycles : 5).[0m + 36.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731377 ms (missed cycles : 5).[0m + 37.18sWARNros2_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 + 37.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 37.23sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930500 ms (missed cycles : 2).[0m + 37.52sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). + 37.52sINFOobjective_server_nodePath shortcutter: [X__________X] ×5 + 37.53sINFOobjective_server_nodeFound path in 0 iterations (2.02e-07 s). + 37.55sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). + 37.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×5 + 37.61sINFOobjective_server_nodeFound path in 1 iterations (0.00312077 s). + 37.71sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 37.79sINFOros2_control_node[2026-08-14 10:28:50.232] [info] Received new action goal + 37.79sINFOros2_control_node[2026-08-14 10:28:50.232] [info] Accepted new action goal + 38.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820625 ms (missed cycles : 2).[0m + 39.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398898 ms (missed cycles : 3).[0m + 40.27sINFOros2_control_node[2026-08-14 10:28:52.704] [info] Received new action goal + 40.27sINFOros2_control_node[2026-08-14 10:28:52.704] [info] Accepted new action goal + 40.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.385367 ms (missed cycles : 3).[0m + 41.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.164128 ms (missed cycles : 4).[0m + 42.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×7 + 42.18sINFOros2_control_node[2026-08-14 10:28:54.617] [info] Received new action goal + 42.18sINFOros2_control_node[2026-08-14 10:28:54.617] [info] Accepted new action goal + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.779298 ms (missed cycles : 2).[0m + 43.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×9 + 43.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786703336.00410938 seconds + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458617 ms (missed cycles : 3).[0m + 44.18sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786703336.62355924 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 44.26sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786703336.70367146 seconds + 44.86sINFOobjective_server_nodeObjective `Collect Training Data with Behaviors` starting at time: 1786703337.30082130 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 45.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327168 ms (missed cycles : 3).[0m + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764190 ms (missed cycles : 3).[0m + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.336266 ms (missed cycles : 4).[0m + 47.87sERRORobjective_server_nodeStart Trainer recording Error: Server not available for service /trainer/start_recording + 48.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.573228 ms (missed cycles : 3).[0m + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933626 ms (missed cycles : 2).[0m + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283192 ms (missed cycles : 4).[0m + 50.88sERRORobjective_server_nodeDiscard unsaved attempt Error: Server not available for service /trainer/stop_recording + 50.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Collect Training Data with Behaviors` did not succeed at time: 1786703343.32100320 seconds + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.339967 ms (missed cycles : 5).[0m + 51.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786703344.11111331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 51.79sINFOobjective_server_nodeFound path in 0 iterations (5.81e-07 s). + 51.79sINFOobjective_server_nodePath shortcutter: [X_____________X] + 51.82sINFOros2_control_node[2026-08-14 10:29:04.260] [info] Received new action goal + 51.82sINFOros2_control_node[2026-08-14 10:29:04.260] [info] Accepted new action goal + 52.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.152609 ms (missed cycles : 4).[0m + 53.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763081 ms (missed cycles : 3).[0m + 54.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035470 ms (missed cycles : 2).[0m + 55.01sWARNros2_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 ×3 + 55.17sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). + 55.18sINFOros2_control_node[2026-08-14 10:29:07.615] [info] Received new action goal + 55.18sINFOros2_control_node[2026-08-14 10:29:07.615] [info] Accepted new action goal + 55.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244741 ms (missed cycles : 2).[0m + 56.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.375917 ms (missed cycles : 2).[0m + 57.51sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). + 57.52sINFOros2_control_node[2026-08-14 10:29:09.962] [info] Received new action goal + 57.52sINFOros2_control_node[2026-08-14 10:29:09.962] [info] Accepted new action goal + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720529 ms (missed cycles : 2).[0m + 58.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835650 ms (missed cycles : 5).[0m + 59.87sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). + 59.87sINFOros2_control_node[2026-08-14 10:29:12.312] [info] Received new action goal + 59.87sINFOros2_control_node[2026-08-14 10:29:12.312] [info] Accepted new action goal + 59.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114101 ms (missed cycles : 2).[0m + 61.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168522 ms (missed cycles : 4).[0m + 62.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756599 ms (missed cycles : 2).[0m + 62.20sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). + 62.21sERRORobjective_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: 1786703354.64505410 seconds + 62.86sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786703355.30414581 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 63.05sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). + 63.06sINFOros2_control_node[2026-08-14 10:29:15.498] [info] Received new action goal + 63.06sINFOros2_control_node[2026-08-14 10:29:15.498] [info] Accepted new action goal + 63.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735777 ms (missed cycles : 2).[0m + 64.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687428 ms (missed cycles : 2).[0m + 65.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403670 ms (missed cycles : 3).[0m + 66.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.152310 ms (missed cycles : 5).[0m + 67.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978642 ms (missed cycles : 3).[0m + 67.77sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). + 67.77sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). + 67.78sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 67.79sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). + 67.85sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 67.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 67.91sINFOobjective_server_nodeFound path in 1 iterations (0.00272881 s). + 68.01sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 68.04sINFOobjective_server_nodeFound path in 1 iterations (0.00467241 s). + 68.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 68.15sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). + 68.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 68.28sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). + 68.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 68.52sINFOros2_control_node[2026-08-14 10:29:20.960] [info] Received new action goal + 68.52sINFOros2_control_node[2026-08-14 10:29:20.960] [info] Accepted new action goal + 68.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563823 ms (missed cycles : 4).[0m + 69.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030331 ms (missed cycles : 4).[0m + 70.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.731622 ms (missed cycles : 3).[0m + 70.94sINFOparameter_manager_nodeRetrieving pose from parameter manager. + 71.22sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 71.22sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server + 71.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786703363.67600584 seconds + 71.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.239362 ms (missed cycles : 4).[0m + 73.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744481 ms (missed cycles : 2).[0m + 73.85sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786703366.28485703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.04sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 74.05sINFOros2_control_node[2026-08-14 10:29:26.488] [info] Received new action goal + 74.05sINFOros2_control_node[2026-08-14 10:29:26.489] [info] Accepted new action goal + 74.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029351 ms (missed cycles : 2).[0m + 75.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312386 ms (missed cycles : 5).[0m + 75.63sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m + 76.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580429 ms (missed cycles : 3).[0m + 77.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737352 ms (missed cycles : 3).[0m + 77.80sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). + 77.82sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). + 77.88sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). + 77.93sINFOobjective_server_nodeFound path in 1 iterations (0.00326941 s). + 78.05sINFOobjective_server_nodeFound path in 1 iterations (0.00515251 s). + 78.07sWARNros2_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 + 78.15sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). + 78.28sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). + 78.50sINFOros2_control_node[2026-08-14 10:29:30.941] [info] Received new action goal + 78.50sINFOros2_control_node[2026-08-14 10:29:30.941] [info] Accepted new action goal + 78.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884135 ms (missed cycles : 3).[0m + 79.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.095338 ms (missed cycles : 4).[0m + 81.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.325382 ms (missed cycles : 3).[0m + 81.20sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). + 81.20sINFOobjective_server_nodePath shortcutter: [X_X] + 81.20sINFOobjective_server_nodeFound path in 0 iterations (2.17e-07 s). + 81.20sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 81.21sINFOobjective_server_nodeFound path in 0 iterations (2.13e-07 s). ×2 + 81.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 81.30sINFOobjective_server_nodeFound path in 1 iterations (0.00389137 s). + 81.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] + 81.55sINFOros2_control_node[2026-08-14 10:29:33.990] [info] Received new action goal + 81.55sINFOros2_control_node[2026-08-14 10:29:33.990] [info] Accepted new action goal + 81.98sINFOros2_control_node[2026-08-14 10:29:34.422] [info] Received new action goal + 81.98sINFOros2_control_node[2026-08-14 10:29:34.422] [info] Accepted new action goal + 82.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.812065 ms (missed cycles : 5).[0m + 83.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319062 ms (missed cycles : 4).[0m + 84.01sWARNros2_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 + 84.23sINFOros2_control_nodeGot request to cancel goal[0m ×15 + 84.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×8 + 84.27sERRORobjective_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: 1786703376.70821357 seconds + 84.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873063 ms (missed cycles : 2).[0m + 85.05sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786703377.49052238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 85.19sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). + 85.21sINFOros2_control_node[2026-08-14 10:29:37.644] [info] Received new action goal + 85.21sINFOros2_control_node[2026-08-14 10:29:37.644] [info] Accepted new action goal + 85.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.972474 ms (missed cycles : 3).[0m + 86.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 113.136548 ms (missed cycles : 68).[0m + 87.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.899189 ms (missed cycles : 4).[0m + 87.70sINFOros2_control_node[2026-08-14 10:29:40.142] [info] Received new action goal + 87.70sINFOros2_control_node[2026-08-14 10:29:40.142] [info] Accepted new action goal + 88.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701974 ms (missed cycles : 3).[0m + 89.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.661019 ms (missed cycles : 5).[0m + 90.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999509 ms (missed cycles : 2).[0m + 91.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.788243 ms (missed cycles : 5).[0m + 92.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.057823 ms (missed cycles : 4).[0m + 94.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.416669 ms (missed cycles : 7).[0m + 95.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626418 ms (missed cycles : 4).[0m + 96.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270829 ms (missed cycles : 2).[0m + 96.27sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786703388.71028686 seconds + 96.93sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786703389.36534929 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 96.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 96.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 96.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786703389.42549777 seconds + 97.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278252 ms (missed cycles : 2).[0m + 97.58sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786703390.02394986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 97.69sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 97.71sINFOros2_control_node[2026-08-14 10:29:50.147] [info] Received new action goal + 97.71sINFOros2_control_node[2026-08-14 10:29:50.147] [info] Accepted new action goal + 98.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129594 ms (missed cycles : 5).[0m + 99.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550956 ms (missed cycles : 3).[0m + 99.71sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786703392.15408802 seconds +100.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161606 ms (missed cycles : 2).[0m +101.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 +101.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225740 ms (missed cycles : 4).[0m +101.31sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786703393.74892116 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +102.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079375 ms (missed cycles : 5).[0m +102.84sINFOobjective_server_node[2026-08-14 10:29:55.280] [info] Selected ONNX execution provider: CUDAExecutionProvider +103.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275571 ms (missed cycles : 2).[0m +103.65sINFOobjective_server_node[0;93m2026-08-14 10:29:56.090897337 [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 +103.65sINFOobjective_server_node[0;93m2026-08-14 10:29:56.090922939 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +104.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935973 ms (missed cycles : 4).[0m +104.64sINFOobjective_server_node[2026-08-14 10:29:57.078] [info] Selected ONNX execution provider: CUDAExecutionProvider +105.12sINFOobjective_server_node[0;93m2026-08-14 10:29:57.555961808 [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 +105.12sINFOobjective_server_node[0;93m2026-08-14 10:29:57.555990162 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +105.28sINFOobjective_server_node[2026-08-14 10:29:57.716] [info] Selected ONNX execution provider: CUDAExecutionProvider +105.33sINFOobjective_server_node[0;93m2026-08-14 10:29:57.769064347 [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 +105.33sINFOobjective_server_node[0;93m2026-08-14 10:29:57.771740710 [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 +105.33sINFOobjective_server_node[0;93m2026-08-14 10:29:57.771760396 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +105.40sINFOobjective_server_node[2026-08-14 10:29:57.836] [info] Selected ONNX execution provider: CUDAExecutionProvider +105.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870943 ms (missed cycles : 2).[0m +105.77sINFOobjective_server_node[0;93m2026-08-14 10:29:58.205061073 [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 +105.79sINFOobjective_server_node[0;93m2026-08-14 10:29:58.226865833 [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 +105.79sINFOobjective_server_node[0;93m2026-08-14 10:29:58.226894299 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +106.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m +106.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337194 ms (missed cycles : 2).[0m +107.63sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786703400.06755972 seconds +108.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562883 ms (missed cycles : 2).[0m +108.31sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786703400.75408506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +108.50sINFOobjective_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 +108.51sINFOobjective_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 +108.78sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). +108.78sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 +108.83sINFOros2_control_node[2026-08-14 10:30:01.271] [info] Received new action goal +108.83sINFOros2_control_node[2026-08-14 10:30:01.271] [info] Accepted new action goal +109.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731788 ms (missed cycles : 2).[0m +110.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779278 ms (missed cycles : 3).[0m +111.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221505 ms (missed cycles : 2).[0m +111.69sINFOobjective_server_nodeFound path in 0 iterations (5.89e-07 s). +111.70sINFOros2_control_node[2026-08-14 10:30:04.138] [info] Received new action goal +111.70sINFOros2_control_node[2026-08-14 10:30:04.138] [info] Accepted new action goal +112.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623736 ms (missed cycles : 3).[0m +113.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918153 ms (missed cycles : 2).[0m +114.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183643 ms (missed cycles : 3).[0m +114.86sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×8 +114.87sINFOros2_control_node[2026-08-14 10:30:07.308] [info] Received new action goal +114.87sINFOros2_control_node[2026-08-14 10:30:07.308] [info] Accepted new action goal +115.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372748 ms (missed cycles : 2).[0m +116.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.438683 ms (missed cycles : 6).[0m +117.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606399 ms (missed cycles : 3).[0m +117.85sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). +117.91sINFOros2_control_node[2026-08-14 10:30:10.351] [info] Received new action goal +117.91sINFOros2_control_node[2026-08-14 10:30:10.351] [info] Accepted new action goal +118.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.472057 ms (missed cycles : 4).[0m +118.97sWARNros2_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 +119.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.352769 ms (missed cycles : 4).[0m +120.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241265 ms (missed cycles : 3).[0m +120.87sINFOobjective_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 ×5 +120.87sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×3 +120.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×5 +120.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×5 +120.87sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×3 +121.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228151 ms (missed cycles : 4).[0m +122.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.360379 ms (missed cycles : 3).[0m +123.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122160 ms (missed cycles : 4).[0m +124.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136669 ms (missed cycles : 3).[0m +126.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163954 ms (missed cycles : 4).[0m +127.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.062243 ms (missed cycles : 7).[0m +127.67sINFOobjective_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 +127.67sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×3 +127.67sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×3 +128.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602068 ms (missed cycles : 3).[0m +128.56sINFOros2_control_node[2026-08-14 10:30:20.997] [info] Received new action goal +128.56sINFOros2_control_node[2026-08-14 10:30:20.997] [info] Accepted new action goal +129.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.428686 ms (missed cycles : 5).[0m +129.73sINFOobjective_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 +129.73sINFOobjective_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 +130.01sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). +130.01sINFOobjective_server_nodePath shortcutter: [X___________X] +130.05sINFOros2_control_node[2026-08-14 10:30:22.491] [info] Received new action goal +130.05sINFOros2_control_node[2026-08-14 10:30:22.491] [info] Accepted new action goal +130.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319015 ms (missed cycles : 4).[0m +131.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747851 ms (missed cycles : 2).[0m +132.19sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). +132.20sINFOros2_control_node[2026-08-14 10:30:24.638] [info] Received new action goal +132.20sINFOros2_control_node[2026-08-14 10:30:24.638] [info] Accepted new action goal +133.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642221 ms (missed cycles : 3).[0m +134.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.519086 ms (missed cycles : 6).[0m +135.23sINFOros2_control_node[2026-08-14 10:30:27.668] [info] Received new action goal +135.23sINFOros2_control_node[2026-08-14 10:30:27.668] [info] Accepted new action goal +135.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969454 ms (missed cycles : 5).[0m +135.63sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m +136.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132568 ms (missed cycles : 4).[0m +137.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326693 ms (missed cycles : 2).[0m +137.82sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). +137.87sINFOros2_control_node[2026-08-14 10:30:30.311] [info] Received new action goal +137.87sINFOros2_control_node[2026-08-14 10:30:30.311] [info] Accepted new action goal +138.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.174128 ms (missed cycles : 8).[0m +140.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010713 ms (missed cycles : 2).[0m +141.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865622 ms (missed cycles : 5).[0m +141.32sWARNros2_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 +142.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.778395 ms (missed cycles : 3).[0m +143.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125578 ms (missed cycles : 2).[0m +144.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102514 ms (missed cycles : 2).[0m +145.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618719 ms (missed cycles : 4).[0m +146.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.517477 ms (missed cycles : 3).[0m +147.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944884 ms (missed cycles : 3).[0m +148.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267494 ms (missed cycles : 4).[0m +148.53sINFOros2_control_node[2026-08-14 10:30:40.968] [info] Received new action goal +148.53sINFOros2_control_node[2026-08-14 10:30:40.968] [info] Accepted new action goal +149.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803548 ms (missed cycles : 3).[0m +149.68sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786703442.12428522 seconds +150.47sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786703442.91040301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +150.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183414 ms (missed cycles : 2).[0m +151.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.954735 ms (missed cycles : 2).[0m +151.64sINFOobjective_server_nodePath shortcutter: [X__________________________X] +151.66sINFOros2_control_node[2026-08-14 10:30:44.095] [info] Received new action goal +151.66sINFOros2_control_node[2026-08-14 10:30:44.095] [info] Accepted new action goal +152.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926777 ms (missed cycles : 2).[0m +153.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821580 ms (missed cycles : 4).[0m +155.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899054 ms (missed cycles : 3).[0m +156.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039835 ms (missed cycles : 2).[0m +157.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925737 ms (missed cycles : 2).[0m +157.74sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 +157.75sINFOobjective_server_nodePath shortcutter: [X________________________X] +157.77sINFOros2_control_node[2026-08-14 10:30:50.205] [info] Received new action goal +157.77sINFOros2_control_node[2026-08-14 10:30:50.205] [info] Accepted new action goal +158.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979463 ms (missed cycles : 2).[0m +159.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m +159.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815428 ms (missed cycles : 2).[0m +160.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933260 ms (missed cycles : 5).[0m +161.37sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786703453.81068873 seconds +161.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971940 ms (missed cycles : 3).[0m +161.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786703454.41573906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +162.13sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). +162.13sINFOobjective_server_nodePath shortcutter: [X___X] ×3 +162.14sINFOros2_control_node[2026-08-14 10:30:54.579] [info] Received new action goal +162.14sINFOros2_control_node[2026-08-14 10:30:54.579] [info] Accepted new action goal +162.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829567 ms (missed cycles : 3).[0m +163.40sINFOobjective_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 ×2 +163.40sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. +163.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 +163.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.788437 ms (missed cycles : 6).[0m +164.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778686 ms (missed cycles : 2).[0m +165.49sINFOros2_control_nodeReceived new action goal[0m ×5203 +165.49sINFOros2_control_nodeAccepted new action goal[0m ×5203 +165.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857022 ms (missed cycles : 2).[0m +166.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m +166.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083266 ms (missed cycles : 2).[0m +167.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538217 ms (missed cycles : 3).[0m +169.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.685537 ms (missed cycles : 5).[0m +170.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.270654 ms (missed cycles : 5).[0m +170.46sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×8 +171.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667756 ms (missed cycles : 2).[0m +171.43sWARNros2_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 +172.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942982 ms (missed cycles : 2).[0m +173.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737329 ms (missed cycles : 2).[0m +174.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977207 ms (missed cycles : 2).[0m +175.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789743 ms (missed cycles : 2).[0m +176.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679043 ms (missed cycles : 2).[0m +177.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647512 ms (missed cycles : 2).[0m +177.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 +178.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018616 ms (missed cycles : 2).[0m +179.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877960 ms (missed cycles : 2).[0m +180.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970417 ms (missed cycles : 2).[0m +181.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055537 ms (missed cycles : 2).[0m +182.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007063 ms (missed cycles : 2).[0m +183.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794908 ms (missed cycles : 6).[0m +184.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875213 ms (missed cycles : 2).[0m +185.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299064 ms (missed cycles : 2).[0m +187.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797139 ms (missed cycles : 2).[0m +188.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677327 ms (missed cycles : 2).[0m +189.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883653 ms (missed cycles : 2).[0m +189.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 +190.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091596 ms (missed cycles : 2).[0m +191.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833218 ms (missed cycles : 2).[0m +192.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294781 ms (missed cycles : 2).[0m +193.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506772 ms (missed cycles : 2).[0m +194.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067180 ms (missed cycles : 2).[0m +195.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804703 ms (missed cycles : 2).[0m +195.63sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m +196.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.402815 ms (missed cycles : 4).[0m +196.53sWARNros2_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 +197.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204680 ms (missed cycles : 2).[0m +198.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846442 ms (missed cycles : 2).[0m +199.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431141 ms (missed cycles : 2).[0m +200.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184133 ms (missed cycles : 2).[0m +201.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722353 ms (missed cycles : 2).[0m +202.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440277 ms (missed cycles : 2).[0m +203.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832955 ms (missed cycles : 2).[0m +204.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353497 ms (missed cycles : 2).[0m +205.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398602 ms (missed cycles : 2).[0m +205.76sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786703498.19480252 seconds +206.39sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786703498.82877851 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +206.54sINFOobjective_server_nodeFound path in 0 iterations (4.92e-07 s). +206.56sINFOros2_control_node[2026-08-14 10:31:38.996] [info] Received new action goal +206.56sINFOros2_control_node[2026-08-14 10:31:38.996] [info] Accepted new action goal +206.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.396634 ms (missed cycles : 3).[0m +207.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979829 ms (missed cycles : 2).[0m +208.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527414 ms (missed cycles : 2).[0m +209.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730484 ms (missed cycles : 2).[0m +210.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911450 ms (missed cycles : 2).[0m +211.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889833 ms (missed cycles : 2).[0m +212.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707504 ms (missed cycles : 2).[0m +213.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688697 ms (missed cycles : 2).[0m +214.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732185 ms (missed cycles : 2).[0m +215.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.079106 ms (missed cycles : 7).[0m +216.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737796 ms (missed cycles : 3).[0m +217.46sWARNros2_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 +217.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862192 ms (missed cycles : 2).[0m +218.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053160 ms (missed cycles : 3).[0m +220.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755169 ms (missed cycles : 2).[0m +221.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618501 ms (missed cycles : 2).[0m +222.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.810818 ms (missed cycles : 4).[0m +223.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.238057 ms (missed cycles : 2).[0m +224.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.494087 ms (missed cycles : 3).[0m +224.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m +225.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681052 ms (missed cycles : 2).[0m +226.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003275 ms (missed cycles : 2).[0m +227.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411234 ms (missed cycles : 4).[0m +227.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786703520.31631923 seconds +228.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786703520.94860411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +228.68sINFOobjective_server_nodeFound path in 5 iterations (0.00558781 s). +228.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699900 ms (missed cycles : 5).[0m +228.76sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] +228.78sINFOros2_control_node[2026-08-14 10:32:01.214] [info] Received new action goal +228.78sINFOros2_control_node[2026-08-14 10:32:01.214] [info] Accepted new action goal +229.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.038011 ms (missed cycles : 5).[0m +230.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922602 ms (missed cycles : 2).[0m +232.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.293378 ms (missed cycles : 4).[0m +233.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048468 ms (missed cycles : 2).[0m +234.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102269 ms (missed cycles : 4).[0m +235.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583111 ms (missed cycles : 2).[0m +236.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937727 ms (missed cycles : 2).[0m +237.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.995379 ms (missed cycles : 2).[0m +238.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715131 ms (missed cycles : 2).[0m +239.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462708 ms (missed cycles : 2).[0m +240.67sINFOobjective_server_nodeFound path in 4 iterations (0.00328501 s). +240.76sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +240.79sINFOobjective_server_nodeFound path in 12 iterations (0.00585121 s). +240.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162308 ms (missed cycles : 4).[0m +240.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] +240.90sINFOobjective_server_nodeFound path in 2 iterations (0.00424942 s). +240.95sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] +240.97sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). +241.00sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +241.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +241.08sINFOobjective_server_nodeFound path in 8 iterations (0.00367738 s). +241.14sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] +241.17sINFOobjective_server_nodeFound path in 1 iterations (0.00505415 s). +241.23sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] +241.25sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). +241.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +241.32sINFOobjective_server_nodeFound path in 4 iterations (0.00537795 s). +241.43sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] +241.46sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). +241.56sINFOobjective_server_nodeFound path in 4 iterations (0.00386988 s). +241.66sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X_____________________X] +241.69sINFOobjective_server_nodeFound path in 1 iterations (0.00756411 s). +241.77sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] +241.79sINFOobjective_server_nodeFound path in 1 iterations (0.00369108 s). +241.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] +241.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). +241.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.480675 ms (missed cycles : 9).[0m +241.96sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +242.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X] +242.09sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). +242.19sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] +242.42sINFOros2_control_node[2026-08-14 10:32:14.862] [info] Received new action goal +242.42sINFOros2_control_node[2026-08-14 10:32:14.862] [info] Accepted new action goal +242.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675210 ms (missed cycles : 2).[0m +244.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.068185 ms (missed cycles : 5).[0m +245.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500121 ms (missed cycles : 4).[0m +246.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706042 ms (missed cycles : 2).[0m +246.94sWARNros2_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 +247.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.878549 ms (missed cycles : 3).[0m +248.54sINFOros2_control_node[2026-08-14 10:32:20.974] [info] Received new action goal +248.54sINFOros2_control_node[2026-08-14 10:32:20.974] [info] Accepted new action goal +248.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551813 ms (missed cycles : 3).[0m +249.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.203886 ms (missed cycles : 7).[0m +249.90sINFOros2_control_node[2026-08-14 10:32:22.335] [info] Received new action goal +249.90sINFOros2_control_node[2026-08-14 10:32:22.335] [info] Accepted new action goal +250.94sWARNobjective_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. +250.94sINFOobjective_server_nodePlanning for 4 path waypoints. +250.97sINFOros2_control_node[2026-08-14 10:32:23.406] [info] Received new action goal +250.97sINFOros2_control_node[2026-08-14 10:32:23.406] [info] Accepted new action goal +251.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.161128 ms (missed cycles : 7).[0m +252.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.272009 ms (missed cycles : 2).[0m +252.35sWARNros2_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 +253.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216875 ms (missed cycles : 2).[0m +254.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192427 ms (missed cycles : 2).[0m +255.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786703547.63238788 seconds +255.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408571 ms (missed cycles : 6).[0m +255.63sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m +255.87sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786703548.30745506 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +256.09sINFOobjective_server_nodeFound path in 0 iterations (5.78e-07 s). +256.10sINFOros2_control_node[2026-08-14 10:32:28.541] [info] Received new action goal +256.10sINFOros2_control_node[2026-08-14 10:32:28.541] [info] Accepted new action goal +256.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385932 ms (missed cycles : 2).[0m +257.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836603 ms (missed cycles : 2).[0m +258.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184689 ms (missed cycles : 4).[0m +259.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318778 ms (missed cycles : 4).[0m +259.90sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). +259.91sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). +259.93sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). +259.99sINFOobjective_server_nodeFound path in 1 iterations (0.00361858 s). +260.14sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +260.16sINFOros2_control_node[2026-08-14 10:32:32.595] [info] Received new action goal +260.16sINFOros2_control_node[2026-08-14 10:32:32.595] [info] Accepted new action goal +260.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.051087 ms (missed cycles : 5).[0m +261.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183271 ms (missed cycles : 2).[0m +262.63sINFOros2_control_node[2026-08-14 10:32:35.067] [info] Received new action goal +262.63sINFOros2_control_node[2026-08-14 10:32:35.067] [info] Accepted new action goal +262.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497671 ms (missed cycles : 3).[0m +263.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293032 ms (missed cycles : 2).[0m +264.54sINFOros2_control_node[2026-08-14 10:32:36.981] [info] Received new action goal +264.54sINFOros2_control_node[2026-08-14 10:32:36.981] [info] Accepted new action goal +264.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010905 ms (missed cycles : 4).[0m +265.93sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786703558.36762309 seconds +266.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769606 ms (missed cycles : 3).[0m +266.78sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786703559.21987343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +266.96sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). +266.97sINFOros2_control_node[2026-08-14 10:32:39.413] [info] Received new action goal +266.97sINFOros2_control_node[2026-08-14 10:32:39.413] [info] Accepted new action goal +267.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168665 ms (missed cycles : 3).[0m +268.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406535 ms (missed cycles : 2).[0m +268.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +269.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684213 ms (missed cycles : 2).[0m +270.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.154339 ms (missed cycles : 5).[0m +271.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834693 ms (missed cycles : 3).[0m +272.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811025 ms (missed cycles : 2).[0m +273.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.679977 ms (missed cycles : 4).[0m +274.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316917 ms (missed cycles : 5).[0m +275.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783379 ms (missed cycles : 3).[0m +276.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117248 ms (missed cycles : 2).[0m +277.14sERRORobjective_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: 1786703569.57263660 seconds +277.76sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786703570.20369387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +277.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.220206 ms (missed cycles : 4).[0m +278.04sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). +278.06sINFOros2_control_node[2026-08-14 10:32:50.498] [info] Received new action goal +278.06sINFOros2_control_node[2026-08-14 10:32:50.498] [info] Accepted new action goal +278.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.719628 ms (missed cycles : 5).[0m +280.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.380982 ms (missed cycles : 4).[0m +281.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833578 ms (missed cycles : 2).[0m +282.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451252 ms (missed cycles : 4).[0m +282.08sINFOros2_control_node[2026-08-14 10:32:54.516] [info] Received new action goal +282.08sINFOros2_control_node[2026-08-14 10:32:54.516] [info] Accepted new action goal +283.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819468 ms (missed cycles : 2).[0m +284.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696196 ms (missed cycles : 2).[0m +285.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066863 ms (missed cycles : 6).[0m +286.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.998548 ms (missed cycles : 3).[0m +287.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718681 ms (missed cycles : 3).[0m +287.66sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786703580.10178018 seconds +288.26sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786703580.70262432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +288.38sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). +288.40sINFOros2_control_node[2026-08-14 10:33:00.836] [info] Received new action goal +288.40sINFOros2_control_node[2026-08-14 10:33:00.836] [info] Accepted new action goal +288.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.395768 ms (missed cycles : 2).[0m +289.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483545 ms (missed cycles : 2).[0m +290.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374550 ms (missed cycles : 4).[0m +291.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785576 ms (missed cycles : 2).[0m +292.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577298 ms (missed cycles : 3).[0m +293.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858557 ms (missed cycles : 2).[0m +294.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.481940 ms (missed cycles : 4).[0m +295.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.214439 ms (missed cycles : 4).[0m +296.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.207488 ms (missed cycles : 5).[0m +297.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230427 ms (missed cycles : 2).[0m +298.62sERRORobjective_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: 1786703591.06288290 seconds +298.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163831 ms (missed cycles : 2).[0m +299.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786703591.71430349 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +299.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786703591.80442476 seconds +299.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786703592.39620090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +299.98sINFOobjective_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 '' +299.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786703592.41836333 seconds +300.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077361 ms (missed cycles : 5).[0m +300.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786703593.14071083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +300.82sINFOros2_control_node[2026-08-14 10:33:13.254] [info] Received new action goal +300.82sINFOros2_control_node[2026-08-14 10:33:13.254] [info] Accepted new action goal +301.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875130 ms (missed cycles : 2).[0m +302.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.027967 ms (missed cycles : 5).[0m +303.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.770451 ms (missed cycles : 6).[0m +304.13sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +304.14sINFOros2_control_node[2026-08-14 10:33:16.574] [info] Received new action goal +304.14sINFOros2_control_node[2026-08-14 10:33:16.574] [info] Accepted new action goal +304.14sINFOros2_control_node[2026-08-14 10:33:16.575] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +304.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.857072 ms (missed cycles : 5).[0m +305.30sWARNros2_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 +305.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834381 ms (missed cycles : 3).[0m +306.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.636815 ms (missed cycles : 6).[0m +307.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350317 ms (missed cycles : 3).[0m +308.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684359 ms (missed cycles : 2).[0m +309.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346061 ms (missed cycles : 3).[0m +310.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785039 ms (missed cycles : 3).[0m +311.13sINFOros2_control_node[2026-08-14 10:33:23.571] [info] Got request to cancel active goal. +311.13sINFOros2_control_node[2026-08-14 10:33:23.571] [info] Canceling active goal... +311.14sERRORobjective_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: 1786703603.57576895 seconds +311.74sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786703604.17851806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +311.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513927 ms (missed cycles : 2).[0m +312.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786703604.94862723 seconds +313.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958622 ms (missed cycles : 2).[0m +313.11sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786703605.55251241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +313.11sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +313.11sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +313.11sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +313.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786703605.55436301 seconds +313.84sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786703606.27696109 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +313.84sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786703606.27758026 seconds +314.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053101 ms (missed cycles : 2).[0m +314.44sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786703606.87849021 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +315.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.936747 ms (missed cycles : 6).[0m +315.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786703607.99861813 seconds +315.59sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +316.10sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m +316.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969285 ms (missed cycles : 2).[0m +317.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976139 ms (missed cycles : 3).[0m +318.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517586 ms (missed cycles : 4).[0m +319.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.835519 ms (missed cycles : 6).[0m +320.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.004091 ms (missed cycles : 7).[0m +321.10sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.10sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.11sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.11sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.11sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] +321.12sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.12sERRORweb_video_auth_proxy-23process has died [pid 9166, 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']. +321.12sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.13sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.13sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.13sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] +321.14sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.14sERRORweb_bridge_auth_proxy-22process has died [pid 9148, 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']. +321.14sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.15sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.15sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.15sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.15sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.16sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.16sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +321.16sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] +321.17sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +321.18sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] +321.20sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] +321.21sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] +321.22sINFOvideo_server-21process has finished cleanly [pid 9147] +321.23sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] +321.24sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +321.25sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system +321.25sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +321.27sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +321.28sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +321.29sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +321.31sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +321.32sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +321.34sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +321.34sINFOvideo_server2026/08/14 10:33:33 INF shutting down gracefully +321.34sINFOvideo_server2026/08/14 10:33:33 INF [WebRTC] closing +321.34sINFOvideo_server2026/08/14 10:33:33 INF [RTSP] closing +321.34sINFOvideo_server2026/08/14 10:33:33 INF waiting for running hooks +321.34sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +321.34sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +321.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +321.34sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +321.35sERRORmove_groupwhat(): context cannot be slept with because it's invalid +321.35sERRORmove_groupStack trace (most recent call last) in thread 9398: +321.35sWARNparameter_manager_nodeROS node was shutdown. +321.35sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +321.35sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f729304db63, in __clone +321.35sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7292fc0b83, in +321.35sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7293252db3, in +321.35sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f72939c3637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +321.35sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f72935e4620, in rclcpp::Rate::sleep() +321.35sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7293526d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +321.35sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f72934e8087, in +321.35sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7293221390, in __cxa_throw +321.35sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f729320ba54, in std::terminate() +321.35sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f72932210d9, in +321.35sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f729320bff4, in +321.35sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7292f4c8fe, in abort +321.35sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7292f6927d, in raise +321.35sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7292fc2c0c, in pthread_kill +321.35sERRORmove_groupAborted (Signal sent by tkill() 9049 0) +321.35sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +321.35sINFOros2_control_nodeShutdown request received....[0m +321.35sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +321.35sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +321.35sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +321.35sERRORmove_group-9process has died [pid 9049, 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_g9yq9zcn --params-file /tmp/launch_params__2p9apzr --params-file /tmp/launch_params_d_ow3iuc --params-file /tmp/launch_params_xcz1gfnr --params-file /tmp/launch_params_xzq54y_k --params-file /tmp/launch_params_37pqjkqo']. +321.35sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +321.35sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +321.35sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +321.35sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +321.35sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +321.35sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +321.35sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +321.35sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +321.35sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +321.35sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +321.35sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +321.35sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +321.35sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +321.35sINFOros2_control_nodeShutting down the controller manager.[0m +321.35sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 +321.45sINFOros2_control_nodeAsync messages lost 0[0m ×2 +321.45sINFOros2_control_nodepublish_async_failures_ 1[0m +321.46sINFOros2_control_nodepublish_async_failures_ 2[0m +322.23sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9131] +322.23sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +322.31sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9053] +322.31sINFOui_teleop_bridge-18process has finished cleanly [pid 9058] +322.32sINFOexecute_objective_bridge-17process has finished cleanly [pid 9057] +322.33sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9052] +322.33sINFOcomponent_container_mt-16process has finished cleanly [pid 9056] +322.37sINFOwaypoint_manager_node-11process has finished cleanly [pid 9051] +322.39sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. +322.40sINFOparameter_manager_node-10process has finished cleanly [pid 9050] +322.46sINFOobjective_server_node[0;m[2026-08-14 10:33:34.904] [moveit_pro_license] [info] +322.47sINFOobjective_server_node* Application has successfully terminated +322.53sINFOobjective_server_nodecorrupted double-linked list +322.95sERRORobjective_server_node_main-14process has died [pid 9054, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_oa25w7oo --params-file /tmp/launch_params_aabyt0bd --params-file /tmp/launch_params_1hicmcbh --params-file /tmp/launch_params_b8_eqc1k --params-file /tmp/launch_params_w0f3jfmj --params-file /tmp/launch_params_prx9ctsp --params-file /tmp/launch_params_er2en9hw --params-file /tmp/launch_params_v92w0zs0 --params-file /tmp/launch_params_rdwh85wt']. +322.95sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +323.43sINFOweb_bridge-19process has finished cleanly [pid 9059] +323.43sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system +323.44sINFOcomponent_container_mt-15process has finished cleanly [pid 9055] +323.88sINFOros2_control_node-1process has finished cleanly [pid 9012] +329.47sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-14-10-33-41-152879-c4c05c239a60-10307 ×2 +331.28sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +331.29sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +331.29sINFOcontroller_managerupdate rate is 600 Hz +331.29sINFOcontroller_managerOverruns handling is : enabled +331.29sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +331.29sWARNcontroller_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. +331.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876038 ms (missed cycles : 2). +331.43sINFOros2_control_node-1process started with pid [10355] ×2 +331.43sINFOmove_group-9process started with pid [10374] ×2 +331.43sINFOparameter_manager_node-10process started with pid [10375] ×2 +331.43sINFOwaypoint_manager_node-11process started with pid [10376] ×2 +331.43sINFOmove_joint_resampler_node-12process started with pid [10377] ×2 +331.43sINFOmove_end_effector_resampler_node-13process started with pid [10378] ×2 +331.43sINFOobjective_server_node_main-14process started with pid [10381] ×2 +331.43sINFOcomponent_container_mt-15process started with pid [10398] ×2 +331.43sINFOcomponent_container_mt-16process started with pid [10399] ×2 +331.43sINFOexecute_objective_bridge-17process started with pid [10400] ×2 +331.43sINFOui_teleop_bridge-18process started with pid [10401] ×2 +331.43sINFOweb_bridge-19process started with pid [10413] ×2 +331.43sINFOtf2_web_republisher_node-20process started with pid [10455] ×2 +331.43sINFOvideo_server-21process started with pid [10456] ×2 +331.43sINFOweb_bridge_auth_proxy-22process started with pid [10457] ×2 +331.43sINFOweb_video_auth_proxy-23process started with pid [10458] ×2 +331.46sINFOros2-2process started with pid [10356] ×2 +331.46sINFOros2-3process started with pid [10357] ×2 +331.46sINFOros2-4process started with pid [10358] ×2 +331.46sINFOros2-5process started with pid [10359] ×2 +331.46sINFOros2-6process started with pid [10360] ×2 +331.46sINFOros2-7process started with pid [10361] ×2 +331.46sINFOros2-8process started with pid [10362] ×2 +331.49sINFOcontroller_managerReceived robot description from topic. +331.50sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +331.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876038 ms (missed cycles : 2).[0m ×2 +331.52sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +331.83sINFOvideo_server2026/08/14 10:33:44 INF MediaMTX v1.19.3, linux, amd64 ×2 +331.83sINFOvideo_server2026/08/14 10:33:44 INF configuration loaded from /tmp/moveit-webrtc-_sc3rhmv/mediamtx.yml ×2 +331.83sINFOvideo_server2026/08/14 10:33:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +331.83sINFOvideo_server2026/08/14 10:33:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +332.29sINFOmove_group[2026-08-14 10:33:44.728] [moveit_pro_license] [info] ×2 +332.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759154 ms (missed cycles : 4). +332.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759154 ms (missed cycles : 4).[0m ×2 +332.70sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +332.70sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +332.96sINFOwaypoint_manager_node[2026-08-14 10:33:45.401] [moveit_pro_license] [info] ×2 +333.33sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +333.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529563 ms (missed cycles : 2). +333.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529563 ms (missed cycles : 2).[0m ×2 +334.31sINFOobjective_server_node[2026-08-14 10:33:46.751] [moveit_pro_license] [info] ×2 +334.74sINFOcomponent_container_mt[2026-08-14 10:33:47.183] [moveit_pro_license] [info] ×2 +334.85sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +335.02sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +335.02sINFOcontroller_managerActivating component 'ur_mujoco_control'. +335.02sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +335.02sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +335.09sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +335.09sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +335.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c +335.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 +335.11sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +335.11sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +335.11sINFOforce_torque_sensor_broadcasterconfigure successful +335.12sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +335.12sINFOcontroller_managerSuccessfully switched controllers! ×12 +335.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +335.44sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +335.44sINFOcontroller_managerLoading controller 'velocity_force_controller' +335.48sINFOros2-2process has finished cleanly [pid 10356] ×2 +335.55sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c +335.55sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 +335.63sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +335.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +335.67sINFOros2_control_node[2026-08-14 10:33:48.105] [info] Controller state will be published at 10 Hz. ×2 +335.67sINFOros2_control_node[2026-08-14 10:33:48.106] [info] VelocityForceController 'on_configure' succeeded. ×2 +335.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316468 ms (missed cycles : 2). +335.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316468 ms (missed cycles : 2).[0m ×2 +335.99sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +335.99sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +335.99sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c +335.99sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 +336.03sINFOros2-7process has finished cleanly [pid 10361] ×2 +336.03sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +336.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +336.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +336.04sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +336.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +336.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +336.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' +336.39sINFOros2-4process has finished cleanly [pid 10358] ×2 +336.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c +336.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 +336.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +336.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +336.51sINFOros2_control_node[2026-08-14 10:33:48.950] [info] Controller state will be published at 20 Hz. ×2 +336.51sINFOros2_control_node[2026-08-14 10:33:48.950] [info] JointVelocityController 'on_configure' succeeded. ×2 +336.84sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +336.84sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +336.88sINFOros2-8process has finished cleanly [pid 10362] ×2 +336.90sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c +336.91sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 +336.95sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +336.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +336.96sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +336.96sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +336.98sINFOros2_control_node[2026-08-14 10:33:49.420] [info] First order lag filter time constant set to: 0.2 seconds ×2 +336.98sINFOros2_control_node[2026-08-14 10:33:49.420] [info] Controller state will be published at 50 Hz. ×2 +336.99sINFOros2_control_node[2026-08-14 10:33:49.426] [info] Registered `FollowJointTrajectory` action server. ×2 +337.31sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +337.31sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +337.32sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c +337.32sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 +337.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2). +337.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2).[0m ×2 +337.34sINFOros2-6process has finished cleanly [pid 10360] ×2 +337.38sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +337.38sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +337.39sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +337.39sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +337.39sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +337.39sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 +337.39sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +337.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +337.40sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +337.73sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +337.73sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +337.74sINFOros2-5process has finished cleanly [pid 10359] ×2 +337.74sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c +337.74sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 +337.75sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +337.78sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +337.78sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +337.78sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +337.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] +337.79sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +338.02sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +338.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 +338.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +338.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +338.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 +338.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +338.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +338.12sINFOros2-3process has finished cleanly [pid 10357] ×2 +338.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). +338.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 +338.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +338.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +339.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). +339.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 +339.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 +340.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +340.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 +340.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). +340.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 +341.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +341.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 +341.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). +341.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 +341.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +341.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 23 warnings · 258 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.10sINFOros2-3process has finished cleanly [pid 10357] ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 2.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.27sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 7.02sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 29 warnings · 323 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-6process has finished cleanly [pid 10360] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.42sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.42sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOros2-5process has finished cleanly [pid 10359] ×2 + 0.43sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.43sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.44sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 0.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.81sINFOros2-3process has finished cleanly [pid 10357] ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 3.29sWARNros2_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 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.98sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.1s | 20 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 98 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/2026-08-14-10-33-41-152879-c4c05c239a60-10307 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.81sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.82sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.82sINFOcontroller_managerupdate rate is 600 Hz + 1.82sINFOcontroller_managerOverruns handling is : enabled + 1.82sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.82sWARNcontroller_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. + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876038 ms (missed cycles : 2). + 1.96sINFOros2_control_node-1process started with pid [10355] ×2 + 1.96sINFOmove_group-9process started with pid [10374] ×2 + 1.96sINFOparameter_manager_node-10process started with pid [10375] ×2 + 1.96sINFOwaypoint_manager_node-11process started with pid [10376] ×2 + 1.96sINFOmove_joint_resampler_node-12process started with pid [10377] ×2 + 1.96sINFOmove_end_effector_resampler_node-13process started with pid [10378] ×2 + 1.96sINFOobjective_server_node_main-14process started with pid [10381] ×2 + 1.97sINFOcomponent_container_mt-15process started with pid [10398] ×2 + 1.97sINFOcomponent_container_mt-16process started with pid [10399] ×2 + 1.97sINFOexecute_objective_bridge-17process started with pid [10400] ×2 + 1.97sINFOui_teleop_bridge-18process started with pid [10401] ×2 + 1.97sINFOweb_bridge-19process started with pid [10413] ×2 + 1.97sINFOtf2_web_republisher_node-20process started with pid [10455] ×2 + 1.97sINFOvideo_server-21process started with pid [10456] ×2 + 1.97sINFOweb_bridge_auth_proxy-22process started with pid [10457] ×2 + 1.97sINFOweb_video_auth_proxy-23process started with pid [10458] ×2 + 1.99sINFOros2-2process started with pid [10356] ×2 + 1.99sINFOros2-3process started with pid [10357] ×2 + 1.99sINFOros2-4process started with pid [10358] ×2 + 1.99sINFOros2-5process started with pid [10359] ×2 + 1.99sINFOros2-6process started with pid [10360] ×2 + 1.99sINFOros2-7process started with pid [10361] ×2 + 1.99sINFOros2-8process started with pid [10362] ×2 + 2.03sINFOcontroller_managerReceived robot description from topic. + 2.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.03sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.03sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.03sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.03sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.03sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.03sWARNros2_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 + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876038 ms (missed cycles : 2).[0m ×2 + 2.03sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.03sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.05sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.36sINFOvideo_server2026/08/14 10:33:44 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.36sINFOvideo_server2026/08/14 10:33:44 INF configuration loaded from /tmp/moveit-webrtc-_sc3rhmv/mediamtx.yml ×2 + 2.36sINFOvideo_server2026/08/14 10:33:44 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.36sINFOvideo_server2026/08/14 10:33:44 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.82sINFOmove_group[2026-08-14 10:33:44.728] [moveit_pro_license] [info] ×2 + 2.82sINFOmove_group************************************************* ×4 + 2.82sINFOmove_group* MoveIt Pro License ×2 + 2.82sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759154 ms (missed cycles : 4). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759154 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 23 warnings · 253 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.10sINFOros2-3process has finished cleanly [pid 10357] ×2 + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 2.29sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.35sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.52sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.52sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.27sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 23 warnings · 360 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 10362] ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.17sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.18sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.20sINFOros2_control_node[2026-08-14 10:33:49.420] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.20sINFOros2_control_node[2026-08-14 10:33:49.420] [info] Controller state will be published at 50 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 10:33:49.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.53sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2-6process has finished cleanly [pid 10360] ×2 + 0.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.61sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.61sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.61sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.61sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.61sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.61sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.61sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.62sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.62sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2-5process has finished cleanly [pid 10359] ×2 + 0.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.00sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.00sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.01sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.01sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.34sINFOros2-3process has finished cleanly [pid 10357] ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 3.82sWARNros2_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 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 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 ] + 6.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.51sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 23 warnings · 360 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 10362] ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.17sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.18sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.20sINFOros2_control_node[2026-08-14 10:33:49.420] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.20sINFOros2_control_node[2026-08-14 10:33:49.420] [info] Controller state will be published at 50 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 10:33:49.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.53sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2-6process has finished cleanly [pid 10360] ×2 + 0.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.61sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.61sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.61sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.61sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.61sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.61sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.61sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.62sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.62sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2-5process has finished cleanly [pid 10359] ×2 + 0.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.00sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.00sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.01sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.01sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.34sINFOros2-3process has finished cleanly [pid 10357] ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 3.82sWARNros2_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 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 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 ] + 6.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.51sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 23 warnings · 360 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.05sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.05sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 10362] ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.17sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.17sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.18sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_node[2026-08-14 10:33:49.395] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.20sINFOros2_control_node[2026-08-14 10:33:49.420] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.20sINFOros2_control_node[2026-08-14 10:33:49.420] [info] Controller state will be published at 50 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 10:33:49.426] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.53sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.53sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.53sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.53sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.54sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.54sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2-6process has finished cleanly [pid 10360] ×2 + 0.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.61sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.61sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.61sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.61sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.61sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.61sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.61sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.61sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.62sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.62sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2-5process has finished cleanly [pid 10359] ×2 + 0.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.00sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.00sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.00sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.00sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.01sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.01sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 1.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.34sINFOros2-3process has finished cleanly [pid 10357] ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 3.52sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 3.82sWARNros2_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 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.75sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 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 ] + 6.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.51sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 26 warnings · 323 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890600 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-6process has finished cleanly [pid 10360] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.08sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.08sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.08sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.42sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.42sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.42sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOros2-5process has finished cleanly [pid 10359] ×2 + 0.43sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c + 0.43sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_c318rou0 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ochybv_d --params-file /tmp/launch_params_f7u_wb8c [0m ×2 + 0.44sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.47sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.47sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.47sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.47sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786703630.45869660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786703630.46893549 seconds ×3 + 0.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.81sINFOros2-3process has finished cleanly [pid 10357] ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481043 ms (missed cycles : 3).[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786703631.06413603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 3.29sWARNros2_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 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 5.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.96sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 5.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.98sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 23 warnings · 230 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094409 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094409 ms (missed cycles : 2).[0m ×2 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 7.17sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.18sINFOros2_control_node[2026-08-14 10:33:58.246] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-08-14 10:33:58.246] [info] Accepted new action goal ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 219 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343397 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786703632.12428784 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.09sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786703632.74439430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786703632.80455804 seconds ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595726 ms (missed cycles : 3).[0m ×2 + 1.97sWARNros2_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 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786703633.46399236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786703633.48413181 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837165 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786703634.08738089 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786703634.23797154 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786703634.95427132 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.91sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.91sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786703634.99439335 seconds ×3 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477089 ms (missed cycles : 2).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786703635.59189415 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (2.2684e-05 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-14 10:33:55.728] [info] Accepted new action goal ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941107 ms (missed cycles : 2).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581227 ms (missed cycles : 3).[0m ×2 + 6.41sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||