117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.7s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass55 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 163 warnings · 19674 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591128 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.02sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.14sINFOros2_control_node[2026-08-14 14:44:02.242] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-14 14:44:02.242] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.110100 ms (missed cycles : 7). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.110100 ms (missed cycles : 7).[0m ×2 + 1.77sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125616 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125616 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949455 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949455 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786718645.85578346 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677629 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677629 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786718646.46500492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.54sINFOros2_control_node[2026-08-14 14:44:06.648] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-14 14:44:06.648] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872496 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872496 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_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 + 5.81sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.87sINFOobjective_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 ×6 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000753 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000753 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260659 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260659 ms (missed cycles : 2).[0m ×2 + 7.99sINFOjoint_trajectory_controllerReceived new action goal ×3237 + 7.99sINFOjoint_trajectory_controllerAccepted new action goal ×3237 + 7.99sINFOros2_control_nodeReceived new action goal[0m ×6474 + 7.99sINFOros2_control_nodeAccepted new action goal[0m ×6474 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966900 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966900 ms (missed cycles : 2).[0m ×2 + 9.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.104276 ms (missed cycles : 4). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.104276 ms (missed cycles : 4).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479673 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479673 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755087 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755087 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916858 ms (missed cycles : 3). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916858 ms (missed cycles : 3).[0m ×2 + 12.88sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.88sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.88sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.88sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.88sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675413 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675413 ms (missed cycles : 2).[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376992 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376992 ms (missed cycles : 2).[0m ×2 + 15.20sWARNros2_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 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648528 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.648528 ms (missed cycles : 3).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119128 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119128 ms (missed cycles : 2).[0m ×2 + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732550 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732550 ms (missed cycles : 2).[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900007 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900007 ms (missed cycles : 2).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673956 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673956 ms (missed cycles : 2).[0m ×2 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091008 ms (missed cycles : 2). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091008 ms (missed cycles : 2).[0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969136 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969136 ms (missed cycles : 2).[0m ×2 + 22.18sWARNros2_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 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285093 ms (missed cycles : 2). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285093 ms (missed cycles : 2).[0m ×2 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765654 ms (missed cycles : 3). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765654 ms (missed cycles : 3).[0m ×2 + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708571 ms (missed cycles : 2). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708571 ms (missed cycles : 2).[0m ×2 + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737492 ms (missed cycles : 2). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737492 ms (missed cycles : 2).[0m ×2 + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806754 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806754 ms (missed cycles : 2).[0m ×2 + 28.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535554 ms (missed cycles : 2). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535554 ms (missed cycles : 2).[0m ×2 + 29.14sWARNros2_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 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471427 ms (missed cycles : 2). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471427 ms (missed cycles : 2).[0m ×2 + 30.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791079 ms (missed cycles : 2). + 30.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791079 ms (missed cycles : 2).[0m ×2 + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.870346 ms (missed cycles : 6). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.870346 ms (missed cycles : 6).[0m ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139511 ms (missed cycles : 3). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.139511 ms (missed cycles : 3).[0m ×2 + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172161 ms (missed cycles : 4). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172161 ms (missed cycles : 4).[0m ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623798 ms (missed cycles : 2). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623798 ms (missed cycles : 2).[0m ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990074 ms (missed cycles : 2). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990074 ms (missed cycles : 2).[0m ×2 + 36.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 36.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.593512 ms (missed cycles : 6). + 36.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.593512 ms (missed cycles : 6).[0m ×2 + 37.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088129 ms (missed cycles : 4). + 37.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.088129 ms (missed cycles : 4).[0m ×2 + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006072 ms (missed cycles : 2). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006072 ms (missed cycles : 2).[0m ×2 + 39.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334112 ms (missed cycles : 2). + 39.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334112 ms (missed cycles : 2).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807458 ms (missed cycles : 5). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.807458 ms (missed cycles : 5).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387968 ms (missed cycles : 2). + 41.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387968 ms (missed cycles : 2).[0m ×2 + 42.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341050 ms (missed cycles : 2). + 42.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.341050 ms (missed cycles : 2).[0m ×2 + 43.03sWARNros2_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 ×2 + 43.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682277 ms (missed cycles : 2). + 43.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682277 ms (missed cycles : 2).[0m ×2 + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846672 ms (missed cycles : 2). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846672 ms (missed cycles : 2).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843287 ms (missed cycles : 2). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843287 ms (missed cycles : 2).[0m ×2 + 47.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212227 ms (missed cycles : 3). + 47.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212227 ms (missed cycles : 3).[0m ×2 + 48.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450628 ms (missed cycles : 2). + 48.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450628 ms (missed cycles : 2).[0m ×2 + 48.17sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786718690.28116369 seconds ×3 + 48.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786718690.91611719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.85sINFOobjective_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 + 48.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.95sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 48.95sINFOros2_control_node[2026-08-14 14:44:51.060] [info] Received new action goal ×2 + 48.95sINFOros2_control_node[2026-08-14 14:44:51.060] [info] Accepted new action goal ×2 + 48.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 49.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463528 ms (missed cycles : 5). + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463528 ms (missed cycles : 5).[0m ×2 + 50.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766121 ms (missed cycles : 5). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766121 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.9s | 166 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_node[2026-08-14 14:43:08.192] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677282127 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677321084 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.46sINFOobjective_server_node[2026-08-14 14:43:08.842] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-14 14:43:08.893635430 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898735843 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898765814 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.58sINFOobjective_server_node[2026-08-14 14:43:08.964] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.94sINFOobjective_server_node[0;93m2026-08-14 14:43:09.317613422 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338899714 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338926576 [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 1.765061 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765061 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4).[0m ×2 + 3.67sWARNros2_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 ×4 + 3.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786718591.14703107 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786718591.83143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.53sINFOobjective_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 + 4.54sINFOobjective_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 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (7.07e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628349 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628349 ms (missed cycles : 4).[0m ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 7.76sINFOros2_control_node[2026-08-14 14:43:15.140] [info] Received new action goal ×2 + 7.76sINFOros2_control_node[2026-08-14 14:43:15.140] [info] Accepted new action goal ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775485 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775485 ms (missed cycles : 2).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.302443 ms (missed cycles : 5). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.302443 ms (missed cycles : 5).[0m ×2 + 10.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 10.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.92sINFOros2_control_node[2026-08-14 14:43:18.305] [info] Received new action goal ×2 + 10.92sINFOros2_control_node[2026-08-14 14:43:18.305] [info] Accepted new action goal ×2 + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927545 ms (missed cycles : 6). + 11.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.927545 ms (missed cycles : 6).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462478 ms (missed cycles : 6). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462478 ms (missed cycles : 6).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574708 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574708 ms (missed cycles : 3).[0m ×2 + 13.89sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 13.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.95sINFOros2_control_node[2026-08-14 14:43:21.329] [info] Received new action goal ×2 + 13.95sINFOros2_control_node[2026-08-14 14:43:21.329] [info] Accepted new action goal ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114715 ms (missed cycles : 2). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114715 ms (missed cycles : 2).[0m ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689971 ms (missed cycles : 4). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689971 ms (missed cycles : 4).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486245 ms (missed cycles : 3). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486245 ms (missed cycles : 3).[0m ×2 + 16.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×6 + 16.91sINFOobjective_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 + 16.93sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.93sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.93sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.93sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904557 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904557 ms (missed cycles : 2).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288871 ms (missed cycles : 2). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288871 ms (missed cycles : 2).[0m ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172302 ms (missed cycles : 5). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.172302 ms (missed cycles : 5).[0m ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197352 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197352 ms (missed cycles : 3).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915524 ms (missed cycles : 2). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915524 ms (missed cycles : 2).[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910736 ms (missed cycles : 3). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910736 ms (missed cycles : 3).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546529 ms (missed cycles : 2). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546529 ms (missed cycles : 2).[0m ×2 + 24.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.43sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.43sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.43sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.43sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656149 ms (missed cycles : 5). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.656149 ms (missed cycles : 5).[0m ×2 + 25.32sINFOros2_control_node[2026-08-14 14:43:32.698] [info] Received new action goal ×2 + 25.32sINFOros2_control_node[2026-08-14 14:43:32.698] [info] Accepted new action goal ×2 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968998 ms (missed cycles : 2). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968998 ms (missed cycles : 2).[0m ×2 + 26.50sINFOobjective_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 + 26.51sINFOobjective_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 + 26.79sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 26.84sINFOros2_control_node[2026-08-14 14:43:34.218] [info] Received new action goal ×2 + 26.84sINFOros2_control_node[2026-08-14 14:43:34.218] [info] Accepted new action goal ×2 + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160412 ms (missed cycles : 4). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.160412 ms (missed cycles : 4).[0m ×2 + 27.78sWARNros2_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 ×4 + 28.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602510 ms (missed cycles : 3). + 28.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.602510 ms (missed cycles : 3).[0m ×2 + 29.14sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 29.14sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 29.15sINFOros2_control_node[2026-08-14 14:43:36.536] [info] Received new action goal ×2 + 29.15sINFOros2_control_node[2026-08-14 14:43:36.536] [info] Accepted new action goal ×2 + 29.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831739 ms (missed cycles : 5). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831739 ms (missed cycles : 5).[0m ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707055 ms (missed cycles : 4). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.707055 ms (missed cycles : 4).[0m ×2 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778207 ms (missed cycles : 4). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.778207 ms (missed cycles : 4).[0m ×2 + 32.19sINFOros2_control_node[2026-08-14 14:43:39.576] [info] Received new action goal ×2 + 32.19sINFOros2_control_node[2026-08-14 14:43:39.576] [info] Accepted new action goal ×2 + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194295 ms (missed cycles : 3). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194295 ms (missed cycles : 3).[0m ×2 + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288596 ms (missed cycles : 6). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.288596 ms (missed cycles : 6).[0m ×2 + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622691 ms (missed cycles : 3). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622691 ms (missed cycles : 3).[0m ×2 + 34.79sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 34.79sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.84sINFOros2_control_node[2026-08-14 14:43:42.218] [info] Received new action goal ×2 + 34.84sINFOros2_control_node[2026-08-14 14:43:42.218] [info] Accepted new action goal ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652707 ms (missed cycles : 2). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652707 ms (missed cycles : 2).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891286 ms (missed cycles : 2). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.891286 ms (missed cycles : 2).[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609271 ms (missed cycles : 2). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609271 ms (missed cycles : 2).[0m ×2 + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877147 ms (missed cycles : 2). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877147 ms (missed cycles : 2).[0m ×2 + 40.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268903 ms (missed cycles : 2). + 40.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268903 ms (missed cycles : 2).[0m ×2 + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140800 ms (missed cycles : 2). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140800 ms (missed cycles : 2).[0m ×2 + 42.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769516 ms (missed cycles : 2). + 42.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769516 ms (missed cycles : 2).[0m ×2 + 42.90sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652255 ms (missed cycles : 4). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652255 ms (missed cycles : 4).[0m ×2 + 44.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.500290 ms (missed cycles : 7). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.500290 ms (missed cycles : 7).[0m ×2 + 45.53sINFOros2_control_node[2026-08-14 14:43:52.911] [info] Received new action goal ×2 + 45.53sINFOros2_control_node[2026-08-14 14:43:52.911] [info] Accepted new action goal ×2 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096449 ms (missed cycles : 3). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096449 ms (missed cycles : 3).[0m ×2 + 46.69sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786718634.07166553 seconds ×3 + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687865 ms (missed cycles : 4). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687865 ms (missed cycles : 4).[0m ×2 + 47.50sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786718634.88561845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659345 ms (missed cycles : 6). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659345 ms (missed cycles : 6).[0m ×2 + 48.73sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 48.74sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.76sINFOros2_control_node[2026-08-14 14:43:56.140] [info] Received new action goal ×2 + 48.76sINFOros2_control_node[2026-08-14 14:43:56.140] [info] Accepted new action goal ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071510 ms (missed cycles : 3). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071510 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.4s | 125 warnings · 2729 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×420 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×420 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×840 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×840 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690321 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690321 ms (missed cycles : 2).[0m ×2 + 0.93sWARNros2_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 ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459807 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459807 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849528 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849528 ms (missed cycles : 2).[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113894 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113894 ms (missed cycles : 2).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786718712.39474583 seconds ×3 + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×5 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786718713.04116488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013212 ms (missed cycles : 6). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013212 ms (missed cycles : 6).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 67 iterations (0.021222 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X__________________________X] ×2 + 4.92sINFOros2_control_node[2026-08-14 14:45:13.327] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-14 14:45:13.327] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178626 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178626 ms (missed cycles : 2).[0m ×2 + 6.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634806 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634806 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123510 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123510 ms (missed cycles : 2).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044076 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044076 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343933 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343933 ms (missed cycles : 2).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819546 ms (missed cycles : 5). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819546 ms (missed cycles : 5).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916656 ms (missed cycles : 3). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916656 ms (missed cycles : 3).[0m ×2 + 12.55sWARNros2_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 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130692 ms (missed cycles : 3). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.130692 ms (missed cycles : 3).[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551573 ms (missed cycles : 4). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551573 ms (missed cycles : 4).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221797 ms (missed cycles : 3). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.221797 ms (missed cycles : 3).[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.886787 ms (missed cycles : 8). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.886787 ms (missed cycles : 8).[0m ×2 + 17.35sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214916 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214916 ms (missed cycles : 2).[0m ×2 + 18.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352633 ms (missed cycles : 4). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352633 ms (missed cycles : 4).[0m ×2 + 19.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828776 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828776 ms (missed cycles : 2).[0m ×2 + 20.59sINFOobjective_server_nodeFound path in 4 iterations (0.00504273 s). ×2 + 20.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________X____________________X] ×2 + 20.75sINFOobjective_server_nodeFound path in 12 iterations (0.00742211 s). ×2 + 20.86sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.90sINFOobjective_server_nodeFound path in 1 iterations (0.00460839 s). ×2 + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806360 ms (missed cycles : 4). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.806360 ms (missed cycles : 4).[0m ×2 + 20.98sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 21.01sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 21.05sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 21.07sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 21.10sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 21.12sINFOobjective_server_nodeFound path in 8 iterations (0.00358643 s). ×2 + 21.18sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 21.21sINFOobjective_server_nodeFound path in 1 iterations (0.00462843 s). ×2 + 21.26sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 21.28sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 21.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.35sINFOobjective_server_nodeFound path in 4 iterations (0.00524309 s). ×2 + 21.44sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.46sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 21.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 21.53sINFOobjective_server_nodeFound path in 4 iterations (0.00393962 s). ×2 + 21.64sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 21.67sINFOobjective_server_nodeFound path in 1 iterations (0.0072279 s). ×2 + 21.74sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 21.77sINFOobjective_server_nodeFound path in 1 iterations (0.00300681 s). ×2 + 21.87sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 21.90sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 21.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.96sINFOobjective_server_nodeFound path in 1 iterations (0.00284105 s). ×2 + 22.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950996 ms (missed cycles : 3). + 22.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950996 ms (missed cycles : 3).[0m ×2 + 22.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________X____X] ×2 + 22.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.30sINFOros2_control_node[2026-08-14 14:45:30.711] [info] Received new action goal ×2 + 22.30sINFOros2_control_node[2026-08-14 14:45:30.711] [info] Accepted new action goal ×2 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702751 ms (missed cycles : 5). + 23.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.702751 ms (missed cycles : 5).[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.699881 ms (missed cycles : 8). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.699881 ms (missed cycles : 8).[0m ×2 + 24.50sWARNros2_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 ×4 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.407195 ms (missed cycles : 6). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.407195 ms (missed cycles : 6).[0m ×2 + 26.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943066 ms (missed cycles : 3). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943066 ms (missed cycles : 3).[0m ×2 + 27.30sINFOros2_control_node[2026-08-14 14:45:35.704] [info] Received new action goal ×2 + 27.30sINFOros2_control_node[2026-08-14 14:45:35.704] [info] Accepted new action goal ×2 + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457480 ms (missed cycles : 2). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457480 ms (missed cycles : 2).[0m ×2 + 28.84sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.85sINFOros2_control_node[2026-08-14 14:45:37.256] [info] Received new action goal ×2 + 28.85sINFOros2_control_node[2026-08-14 14:45:37.256] [info] Accepted new action goal ×2 + 28.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221955 ms (missed cycles : 2). + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221955 ms (missed cycles : 2).[0m ×2 + 29.66sWARNros2_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 + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145926 ms (missed cycles : 3). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145926 ms (missed cycles : 3).[0m ×2 + 30.08sWARNobjective_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 + 30.08sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 30.11sINFOros2_control_node[2026-08-14 14:45:38.517] [info] Received new action goal ×2 + 30.11sINFOros2_control_node[2026-08-14 14:45:38.517] [info] Accepted new action goal ×2 + 31.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541649 ms (missed cycles : 4). + 31.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541649 ms (missed cycles : 4).[0m ×2 + 32.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036478 ms (missed cycles : 5). + 32.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036478 ms (missed cycles : 5).[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703762 ms (missed cycles : 2). + 33.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703762 ms (missed cycles : 2).[0m ×2 + 34.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283865 ms (missed cycles : 2). + 34.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283865 ms (missed cycles : 2).[0m ×2 + 35.34sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786718743.75195241 seconds ×3 + 35.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314192 ms (missed cycles : 5). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314192 ms (missed cycles : 5).[0m ×2 + 36.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786718744.42867589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.25sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 36.25sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.27sINFOros2_control_node[2026-08-14 14:45:44.673] [info] Received new action goal ×2 + 36.27sINFOros2_control_node[2026-08-14 14:45:44.673] [info] Accepted new action goal ×2 + 36.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864571 ms (missed cycles : 2). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864571 ms (missed cycles : 2).[0m ×2 + 37.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113826 ms (missed cycles : 3). + 37.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113826 ms (missed cycles : 3).[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 | 94 warnings · 14158 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2333 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2333 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4666 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4666 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846672 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846672 ms (missed cycles : 2).[0m ×2 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843287 ms (missed cycles : 2). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843287 ms (missed cycles : 2).[0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212227 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212227 ms (missed cycles : 3).[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450628 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450628 ms (missed cycles : 2).[0m ×2 + 3.98sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786718690.28116369 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×7 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786718690.91611719 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.76sINFOros2_control_node[2026-08-14 14:44:51.060] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-08-14 14:44:51.060] [info] Accepted new action goal ×2 + 4.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 4.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463528 ms (missed cycles : 5). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.463528 ms (missed cycles : 5).[0m ×2 + 6.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766121 ms (missed cycles : 5). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766121 ms (missed cycles : 5).[0m ×2 + 6.08sINFOobjective_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 + 6.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209312 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209312 ms (missed cycles : 2).[0m ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313460 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.313460 ms (missed cycles : 2).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879768 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879768 ms (missed cycles : 2).[0m ×2 + 10.01sWARNros2_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 ×6 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514634 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514634 ms (missed cycles : 2).[0m ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817431 ms (missed cycles : 2). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817431 ms (missed cycles : 2).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839457 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839457 ms (missed cycles : 2).[0m ×2 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805172 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805172 ms (missed cycles : 3).[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692536 ms (missed cycles : 2). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692536 ms (missed cycles : 2).[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691315 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691315 ms (missed cycles : 2).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186984 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186984 ms (missed cycles : 2).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066290 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066290 ms (missed cycles : 2).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677043 ms (missed cycles : 6). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.677043 ms (missed cycles : 6).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771729 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771729 ms (missed cycles : 2).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801798 ms (missed cycles : 2). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801798 ms (missed cycles : 2).[0m ×2 + 21.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.558565 ms (missed cycles : 9). + 21.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.558565 ms (missed cycles : 9).[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690321 ms (missed cycles : 2). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690321 ms (missed cycles : 2).[0m ×2 + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459807 ms (missed cycles : 2). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459807 ms (missed cycles : 2).[0m ×2 + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849528 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849528 ms (missed cycles : 2).[0m ×2 + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113894 ms (missed cycles : 2). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113894 ms (missed cycles : 2).[0m ×2 + 26.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786718712.39474583 seconds ×3 + 26.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786718713.04116488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013212 ms (missed cycles : 6). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013212 ms (missed cycles : 6).[0m ×2 + 26.93sINFOobjective_server_nodeFound path in 67 iterations (0.021222 s). ×2 + 27.02sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X__________________________X] ×2 + 27.03sINFOros2_control_node[2026-08-14 14:45:13.327] [info] Received new action goal ×2 + 27.03sINFOros2_control_node[2026-08-14 14:45:13.327] [info] Accepted new action goal ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178626 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178626 ms (missed cycles : 2).[0m ×2 + 28.59sWARNros2_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 + 28.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634806 ms (missed cycles : 2). + 28.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634806 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 15.1s | 3 errors · 66 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 1.99sINFOobjective_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 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1786718518.08628297 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598222 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598222 ms (missed cycles : 4).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549855 ms (missed cycles : 5). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.549855 ms (missed cycles : 5).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831602 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831602 ms (missed cycles : 2).[0m ×2 + 9.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307777 ms (missed cycles : 4). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307777 ms (missed cycles : 4).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090711 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090711 ms (missed cycles : 3).[0m ×2 + 11.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 11.53sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 11.54sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (5.33e-07 s). ×2 + 11.83sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 11.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 11.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 11.93sINFOobjective_server_nodeFound path in 1 iterations (0.00458818 s). ×2 + 12.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 12.12sINFOros2_control_node[2026-08-14 14:42:08.194] [info] Received new action goal ×2 + 12.12sINFOros2_control_node[2026-08-14 14:42:08.194] [info] Accepted new action goal ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317128 ms (missed cycles : 3). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317128 ms (missed cycles : 3).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231204 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231204 ms (missed cycles : 2).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950899 ms (missed cycles : 5). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950899 ms (missed cycles : 5).[0m ×2 + 14.59sINFOros2_control_node[2026-08-14 14:42:10.667] [info] Received new action goal ×2 + 14.59sINFOros2_control_node[2026-08-14 14:42:10.667] [info] Accepted new action goal ×2 + 15.08sWARNros2_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 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4).[0m ×2 + 16.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 16.46sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Received new action goal ×2 + 16.46sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Accepted new action goal ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2).[0m ×2 + 17.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786718533.91841912 seconds ×3 + 18.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786718534.54425216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786718534.59438682 seconds ×3 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2). + 18.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2).[0m ×2 + 19.17sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786718535.24848104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.28sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 19.28sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 19.30sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Received new action goal ×2 + 19.30sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Accepted new action goal ×2 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2).[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612136 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612136 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437851 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437851 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (1.92e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.21sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 1.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.29sINFOobjective_server_nodeFound path in 1 iterations (0.00339062 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.48sINFOros2_control_node[2026-08-14 14:42:45.341] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-14 14:42:45.341] [info] Accepted new action goal ×2 + 1.91sINFOros2_control_node[2026-08-14 14:42:45.772] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-14 14:42:45.772] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134498 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134498 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093438 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093438 ms (missed cycles : 3).[0m ×2 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_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 + 3.81sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.81sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.82sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.82sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.86sERRORobjective_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: 1786718567.71746540 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288615 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288615 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786718568.49776745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.84sINFOros2_control_node[2026-08-14 14:42:48.696] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-14 14:42:48.696] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.093597 ms (missed cycles : 7). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.093597 ms (missed cycles : 7).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951748 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951748 ms (missed cycles : 2).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878439 ms (missed cycles : 5). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878439 ms (missed cycles : 5).[0m ×2 + 7.35sINFOros2_control_node[2026-08-14 14:42:51.209] [info] Received new action goal ×2 + 7.35sINFOros2_control_node[2026-08-14 14:42:51.209] [info] Accepted new action goal ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485745 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.485745 ms (missed cycles : 4).[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860616 ms (missed cycles : 4). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860616 ms (missed cycles : 4).[0m ×2 + 10.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221190 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221190 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334977 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.334977 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530539 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530539 ms (missed cycles : 2).[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214426 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214426 ms (missed cycles : 2).[0m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487231 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487231 ms (missed cycles : 3).[0m ×2 + 15.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786718579.78149557 seconds ×3 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853540 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853540 ms (missed cycles : 2).[0m ×2 + 16.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786718580.46003962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.67sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786718580.53016734 seconds ×3 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2).[0m ×2 + 17.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786718581.12386012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.39sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 17.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.40sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Received new action goal ×2 + 17.40sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Accepted new action goal ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 184 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652255 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.652255 ms (missed cycles : 4).[0m ×2 + 1.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.74sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.74sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.74sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.74sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.500290 ms (missed cycles : 7). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.500290 ms (missed cycles : 7).[0m ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.61sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.61sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.63sINFOros2_control_node[2026-08-14 14:43:52.911] [info] Received new action goal ×2 + 2.63sINFOros2_control_node[2026-08-14 14:43:52.911] [info] Accepted new action goal ×2 + 2.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096449 ms (missed cycles : 3). + 2.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096449 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786718634.07166553 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687865 ms (missed cycles : 4). + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687865 ms (missed cycles : 4).[0m ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.61sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786718634.88561845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659345 ms (missed cycles : 6). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.659345 ms (missed cycles : 6).[0m ×2 + 5.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.85sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.86sINFOros2_control_node[2026-08-14 14:43:56.140] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-08-14 14:43:56.140] [info] Accepted new action goal ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071510 ms (missed cycles : 3). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071510 ms (missed cycles : 3).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071936 ms (missed cycles : 4). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071936 ms (missed cycles : 4).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093063 ms (missed cycles : 2). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093063 ms (missed cycles : 2).[0m ×2 + 8.54sWARNros2_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 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721231 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721231 ms (missed cycles : 3).[0m ×2 + 9.56sINFOobjective_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 + 9.56sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.56sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.56sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.56sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869927 ms (missed cycles : 5). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869927 ms (missed cycles : 5).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591128 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591128 ms (missed cycles : 2).[0m ×2 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 11.95sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.96sINFOros2_control_node[2026-08-14 14:44:02.242] [info] Received new action goal ×2 + 11.96sINFOros2_control_node[2026-08-14 14:44:02.242] [info] Accepted new action goal ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.110100 ms (missed cycles : 7). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.110100 ms (missed cycles : 7).[0m ×2 + 13.60sWARNros2_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 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125616 ms (missed cycles : 3). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125616 ms (missed cycles : 3).[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949455 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949455 ms (missed cycles : 3).[0m ×2 + 15.58sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786718645.85578346 seconds ×3 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677629 ms (missed cycles : 4). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677629 ms (missed cycles : 4).[0m ×2 + 16.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786718646.46500492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.36sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 16.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.37sINFOros2_control_node[2026-08-14 14:44:06.648] [info] Received new action goal ×2 + 16.37sINFOros2_control_node[2026-08-14 14:44:06.648] [info] Accepted new action goal ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872496 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872496 ms (missed cycles : 2).[0m ×2 + 17.64sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.64sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000753 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000753 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612388 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612388 ms (missed cycles : 5).[0m ×2 + 0.10sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.38sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.38sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.39sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786718553.63989139 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954195 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954195 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216938 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216938 ms (missed cycles : 4).[0m ×2 + 2.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.890321 ms (missed cycles : 7). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.890321 ms (missed cycles : 7).[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.95sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786718557.19400287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.15sINFOros2_control_node[2026-08-14 14:42:37.388] [info] Received new action goal ×2 + 4.15sINFOros2_control_node[2026-08-14 14:42:37.388] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285444 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285444 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004464 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004464 ms (missed cycles : 3).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839157 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839157 ms (missed cycles : 3).[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962497 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962497 ms (missed cycles : 2).[0m ×2 + 8.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.08sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.50sINFOobjective_server_nodeFound path in 1 iterations (0.00287932 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796014 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796014 ms (missed cycles : 2).[0m ×2 + 8.64sINFOobjective_server_nodeFound path in 1 iterations (0.00558347 s). ×2 + 8.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 8.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.12sINFOros2_control_node[2026-08-14 14:42:42.362] [info] Received new action goal ×2 + 9.12sINFOros2_control_node[2026-08-14 14:42:42.362] [info] Accepted new action goal ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.481227 ms (missed cycles : 5). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.481227 ms (missed cycles : 5).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612136 ms (missed cycles : 3). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612136 ms (missed cycles : 3).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437851 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437851 ms (missed cycles : 3).[0m ×2 + 11.81sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 11.81sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (1.92e-07 s). ×2 + 11.82sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.83sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 11.88sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.91sINFOobjective_server_nodeFound path in 1 iterations (0.00339062 s). ×2 + 12.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.10sINFOros2_control_node[2026-08-14 14:42:45.341] [info] Received new action goal ×2 + 12.10sINFOros2_control_node[2026-08-14 14:42:45.341] [info] Accepted new action goal ×2 + 12.53sINFOros2_control_node[2026-08-14 14:42:45.772] [info] Received new action goal ×2 + 12.53sINFOros2_control_node[2026-08-14 14:42:45.772] [info] Accepted new action goal ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134498 ms (missed cycles : 4). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134498 ms (missed cycles : 4).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093438 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093438 ms (missed cycles : 3).[0m ×2 + 14.43sINFOobjective_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 + 14.44sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.44sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.44sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.44sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.48sERRORobjective_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: 1786718567.71746540 seconds ×3 + 14.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288615 ms (missed cycles : 2). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288615 ms (missed cycles : 2).[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786718568.49776745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.44sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 15.46sINFOros2_control_node[2026-08-14 14:42:48.696] [info] Received new action goal ×2 + 15.46sINFOros2_control_node[2026-08-14 14:42:48.696] [info] Accepted new action goal ×2 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.093597 ms (missed cycles : 7). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.093597 ms (missed cycles : 7).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951748 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951748 ms (missed cycles : 2).[0m ×2 + 17.04sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 63 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_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 + 2.64sERRORobjective_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: 1786718787.08440399 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×7 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×14 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2).[0m ×2 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378146 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378146 ms (missed cycles : 4).[0m ×2 + 7.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 8.08sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 8.09sINFOros2_control_node[2026-08-14 14:46:32.534] [info] Received new action goal ×2 + 8.09sINFOros2_control_node[2026-08-14 14:46:32.534] [info] Accepted new action goal ×2 + 8.09sINFOros2_control_node[2026-08-14 14:46:32.534] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131855 ms (missed cycles : 4). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131855 ms (missed cycles : 4).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987832 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987832 ms (missed cycles : 2).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986816 ms (missed cycles : 4). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986816 ms (missed cycles : 4).[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340553 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340553 ms (missed cycles : 2).[0m ×2 + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096681 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096681 ms (missed cycles : 2).[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3).[0m ×2 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3).[0m ×2 + 15.14sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Got request to cancel active goal. ×2 + 15.14sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Canceling active goal... ×2 + 15.15sERRORobjective_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: 1786718799.59548879 seconds ×3 + 15.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718800.20089436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6).[0m ×2 + 16.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3).[0m ×2 + 17.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718801.45102286 seconds ×3 + 17.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786718802.04311252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.60sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.60sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.60sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.60sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786718802.04632282 seconds ×3 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 57 errors · 42 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3).[0m ×2 + 0.50sINFOobjective_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 + 0.51sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Got request to cancel active goal. ×2 + 0.51sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Canceling active goal... ×2 + 0.52sERRORobjective_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: 1786718799.59548879 seconds ×3 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718800.20089436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718801.45102286 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786718802.04311252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.97sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786718802.04632282 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786718802.77237296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786718802.77281594 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926643 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926643 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786718803.36128426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732243 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732243 ms (missed cycles : 3).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786718804.45142341 seconds ×3 + 5.42sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509163 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509163 ms (missed cycles : 5).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406715 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406715 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347697 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347697 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059785 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059785 ms (missed cycles : 2).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048728 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048728 ms (missed cycles : 3).[0m ×2 + 10.84sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.84sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.85sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORweb_video_auth_proxy-23process has died [pid 9094, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.86sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.86sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.87sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.88sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.90sERRORweb_bridge_auth_proxy-22process has died [pid 9093, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.91sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.92sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.94sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.95sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.96sINFOvideo_server-21process has finished cleanly [pid 9092] ×2 + 10.96sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.97sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.98sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.99sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.01sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.02sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.03sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.05sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.06sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.08sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.08sINFOcontroller_managerShutdown request received.... + 11.08sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.08sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.08sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.08sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.08sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.08sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.08sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.08sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.08sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.08sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.08sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.08sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.08sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.08sINFOcontroller_managerShutting down the controller manager. + 11.08sINFOvideo_server2026/08/14 14:46:49 INF shutting down gracefully ×2 + 11.08sINFOvideo_server2026/08/14 14:46:49 INF [WebRTC] closing ×2 + 11.08sINFOvideo_server2026/08/14 14:46:49 INF [RTSP] closing ×2 + 11.08sINFOvideo_server2026/08/14 14:46:49 INF waiting for running hooks ×2 + 11.08sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.09sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.09sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.09sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.09sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.09sERRORmove_groupStack trace (most recent call last) in thread 9311: ×2 + 11.09sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.09sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00f2ef8b63, in __clone ×2 + 11.09sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00f2e6bb83, in ×2 + 11.09sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00f30fddb3, in ×2 + 11.09sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f00f386e637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.09sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00f348f620, in rclcpp::Rate::sleep() ×2 + 11.09sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00f33d1d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.09sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00f3393087, in ×2 + 11.09sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00f30cc390, in __cxa_throw ×2 + 11.09sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00f30b6a54, in std::terminate() ×2 + 11.09sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00f30cc0d9, in ×2 + 11.09sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00f30b6ff4, in ×2 + 11.09sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00f2df78fe, in abort ×2 + 11.09sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00f2e1427d, in raise ×2 + 11.09sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00f2e6dc0c, in pthread_kill ×2 + 11.09sERRORmove_groupAborted (Signal sent by tkill() 9017 0) ×2 + 11.09sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.09sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.09sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.09sERRORmove_group-9process has died [pid 9017, 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_fk6xpj4i --params-file /tmp/launch_params_u01ufpu3 --params-file /tmp/launch_params_2ewy_g2f --params-file /tmp/launch_params_omnhx3hz --params-file /tmp/launch_params_zugmnwkm --params-file /tmp/launch_params_8z7g1i4p']. ×2 + 11.09sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.09sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.10sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.10sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.10sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.10sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.10sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.10sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.10sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.10sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.10sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.10sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.10sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.10sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.10sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.10sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.20sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.29sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.29sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.29sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.97sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9091] ×2 + 11.97sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.05sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9021] ×2 + 12.06sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9020] ×2 + 12.06sINFOui_teleop_bridge-18process has finished cleanly [pid 9026] ×2 + 12.06sINFOexecute_objective_bridge-17process has finished cleanly [pid 9025] ×2 + 12.07sINFOcomponent_container_mt-16process has finished cleanly [pid 9024] ×2 + 12.11sINFOwaypoint_manager_node-11process has finished cleanly [pid 9019] ×2 + 12.14sINFOparameter_manager_node-10process has finished cleanly [pid 9018] ×2 + 12.14sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.20sINFOcomponent_container_mt-15process has finished cleanly [pid 9023] ×2 + 12.21sINFOobjective_server_node[0;m[2026-08-14 14:46:51.291] [moveit_pro_license] [info] ×2 + 12.21sINFOobjective_server_node************************************************* ×4 + 12.21sINFOobjective_server_node* MoveIt Pro License ×2 + 12.21sINFOobjective_server_node* Application has successfully terminated ×2 + 12.66sINFOobjective_server_node_main-14process has finished cleanly [pid 9022] ×2 + 12.66sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.08sINFOweb_bridge-19process has finished cleanly [pid 9027] ×2 + 13.08sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.71sINFOros2_control_node-1process has finished cleanly [pid 8980] ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655858 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655858 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243105 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243105 ms (missed cycles : 3).[0m ×2 + 1.26sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256465 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256465 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939720 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939720 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786718776.09991574 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.17sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786718776.70408750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:46:16.848] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:46:16.848] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072625 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072625 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586673 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586673 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750981 ms (missed cycles : 6). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.750981 ms (missed cycles : 6).[0m ×2 + 7.27sWARNros2_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 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741857 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741857 ms (missed cycles : 2).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041181 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041181 ms (missed cycles : 2).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554858 ms (missed cycles : 6). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554858 ms (missed cycles : 6).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373948 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373948 ms (missed cycles : 3).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 12.68sWARNros2_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 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 14.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sERRORobjective_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: 1786718787.08440399 seconds ×3 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.27sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 15.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 16.56sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.68sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 16.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.68sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 16.68sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 63 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329906 ms (missed cycles : 4). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329906 ms (missed cycles : 4).[0m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303582 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.303582 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478015 ms (missed cycles : 5). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478015 ms (missed cycles : 5).[0m ×2 + 10.53sWARNros2_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 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766896 ms (missed cycles : 3). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766896 ms (missed cycles : 3).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749494 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749494 ms (missed cycles : 2).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015531 ms (missed cycles : 2). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015531 ms (missed cycles : 2).[0m ×2 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416140 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416140 ms (missed cycles : 2).[0m ×2 + 14.86sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sERRORobjective_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: 1786718765.57636333 seconds ×3 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079577 ms (missed cycles : 2). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079577 ms (missed cycles : 2).[0m ×2 + 15.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786718766.21253014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.78sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 15.79sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.80sINFOros2_control_node[2026-08-14 14:46:06.506] [info] Received new action goal ×2 + 15.80sINFOros2_control_node[2026-08-14 14:46:06.506] [info] Accepted new action goal ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218190 ms (missed cycles : 4). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218190 ms (missed cycles : 4).[0m ×2 + 17.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029790 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029790 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023035 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023035 ms (missed cycles : 2).[0m ×2 + 7.71sWARNros2_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 + 7.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.76sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675826 ms (missed cycles : 3). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675826 ms (missed cycles : 3).[0m ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (6.88e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.18sINFOobjective_server_nodeFound path in 1 iterations (0.00337443 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 1 iterations (0.00476426 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 8.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.80sINFOros2_control_node[2026-08-14 14:42:30.913] [info] Received new action goal ×2 + 8.80sINFOros2_control_node[2026-08-14 14:42:30.913] [info] Accepted new action goal ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606312 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.606312 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889271 ms (missed cycles : 3). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889271 ms (missed cycles : 3).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612388 ms (missed cycles : 5). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.612388 ms (missed cycles : 5).[0m ×2 + 11.23sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.51sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.51sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.52sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.53sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786718553.63989139 seconds ×3 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954195 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954195 ms (missed cycles : 3).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216938 ms (missed cycles : 4). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216938 ms (missed cycles : 4).[0m ×2 + 13.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.890321 ms (missed cycles : 7). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.890321 ms (missed cycles : 7).[0m ×2 + 15.08sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786718557.19400287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 15.28sINFOros2_control_node[2026-08-14 14:42:37.388] [info] Received new action goal ×2 + 15.28sINFOros2_control_node[2026-08-14 14:42:37.388] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285444 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285444 ms (missed cycles : 2).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004464 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004464 ms (missed cycles : 3).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839157 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839157 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786718533.91841912 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786718534.54425216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786718534.59438682 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786718535.24848104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4).[0m ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.58sINFOros2_control_node[2026-08-14 14:42:18.732] [info] Received new action goal ×2 + 7.58sINFOros2_control_node[2026-08-14 14:42:18.732] [info] Accepted new action goal ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619454 ms (missed cycles : 4). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619454 ms (missed cycles : 4).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.177028 ms (missed cycles : 6). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.177028 ms (missed cycles : 6).[0m ×2 + 9.90sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 9.91sINFOros2_control_node[2026-08-14 14:42:21.070] [info] Received new action goal ×2 + 9.91sINFOros2_control_node[2026-08-14 14:42:21.070] [info] Accepted new action goal ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.452089 ms (missed cycles : 6). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.452089 ms (missed cycles : 6).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 12.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 12.25sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 12.26sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 12.26sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 14.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 14.42sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 14.42sERRORobjective_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: 1786718545.58142519 seconds ×3 + 15.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 15.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.27sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 56 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 0.02sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 0.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.24sWARNros2_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 ×2 + 0.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 2.72sWARNros2_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 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_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 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.17sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 6.18sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.19sINFOros2_control_node[2026-08-14 14:41:50.484] [info] Received new action goal ×2 + 6.19sINFOros2_control_node[2026-08-14 14:41:50.484] [info] Accepted new action goal ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.861979 ms (missed cycles : 8). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.861979 ms (missed cycles : 8).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307462 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307462 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207554 ms (missed cycles : 5). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207554 ms (missed cycles : 5).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950979 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950979 ms (missed cycles : 3).[0m ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 9.93sINFOros2_control_node[2026-08-14 14:41:54.224] [info] Received new action goal ×2 + 9.93sINFOros2_control_node[2026-08-14 14:41:54.224] [info] Accepted new action goal ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868106 ms (missed cycles : 5). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868106 ms (missed cycles : 5).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.26sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 13.26sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 13.78sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.78sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 13.78sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 13.80sERRORobjective_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: 1786718518.08628297 seconds ×3 + 13.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 13.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 13.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 14.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 15.19sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.39sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 15.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.40sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 15.40sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 60 warnings · 141 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036478 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036478 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703762 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703762 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283865 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.03sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786718743.75195241 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314192 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314192 ms (missed cycles : 5).[0m ×2 + 3.37sWARNros2_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 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786718744.42867589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-08-14 14:45:44.673] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-14 14:45:44.673] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864571 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864571 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113826 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113826 ms (missed cycles : 3).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635109 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635109 ms (missed cycles : 2).[0m ×2 + 7.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.25sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.53sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 7.53sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.54sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 7.54sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.63sINFOobjective_server_nodeFound path in 1 iterations (0.00324289 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 7.77sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490904 ms (missed cycles : 6). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490904 ms (missed cycles : 6).[0m ×2 + 7.80sINFOros2_control_node[2026-08-14 14:45:48.514] [info] Received new action goal ×2 + 7.80sINFOros2_control_node[2026-08-14 14:45:48.514] [info] Accepted new action goal ×2 + 8.42sWARNros2_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 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483132 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483132 ms (missed cycles : 2).[0m ×2 + 9.56sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 10.27sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 11.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 11.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 12.12sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.14sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 12.14sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 13.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 14.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 14.54sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 14.71sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.71sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 16.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 55 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766896 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766896 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749494 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749494 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015531 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015531 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416140 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416140 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sERRORobjective_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: 1786718765.57636333 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079577 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079577 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786718766.21253014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.70sINFOros2_control_node[2026-08-14 14:46:06.506] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-14 14:46:06.506] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218190 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218190 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029790 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029790 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545068 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545068 ms (missed cycles : 2).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962816 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962816 ms (missed cycles : 4).[0m ×2 + 8.71sINFOros2_control_node[2026-08-14 14:46:10.515] [info] Received new action goal ×2 + 8.71sINFOros2_control_node[2026-08-14 14:46:10.515] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687494 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687494 ms (missed cycles : 3).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655858 ms (missed cycles : 5). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655858 ms (missed cycles : 5).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243105 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243105 ms (missed cycles : 3).[0m ×2 + 11.99sWARNros2_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 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256465 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256465 ms (missed cycles : 2).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939720 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939720 ms (missed cycles : 2).[0m ×2 + 14.30sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786718776.09991574 seconds ×3 + 14.90sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786718776.70408750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.05sINFOros2_control_node[2026-08-14 14:46:16.848] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-08-14 14:46:16.848] [info] Accepted new action goal ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072625 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072625 ms (missed cycles : 3).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586673 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586673 ms (missed cycles : 3).[0m ×2 + 16.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 6.9s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786718580.46003962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786718580.53016734 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786718581.12386012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Accepted new action goal ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673020 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673020 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786718583.26399803 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546709 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546709 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786718584.86532688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495248 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495248 ms (missed cycles : 3).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001479 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001479 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_node[2026-08-14 14:43:06.424] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-14 14:43:07.163408631 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-14 14:43:07.163435004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2).[0m ×2 + 7.73sINFOobjective_server_node[2026-08-14 14:43:08.192] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5).[0m ×2 + 8.22sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677282127 [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 + 8.22sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677321084 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.38sINFOobjective_server_node[2026-08-14 14:43:08.842] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.43sINFOobjective_server_node[0;93m2026-08-14 14:43:08.893635430 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.44sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898735843 [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 + 8.44sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898765814 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.50sINFOobjective_server_node[2026-08-14 14:43:08.964] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.86sINFOobjective_server_node[0;93m2026-08-14 14:43:09.317613422 [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 + 8.88sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338899714 [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 + 8.88sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338926576 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765061 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765061 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4).[0m ×2 + 10.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 10.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786718591.14703107 seconds ×3 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5).[0m ×2 + 11.37sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786718591.83143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.45sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 11.46sINFOobjective_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 + 11.74sINFOobjective_server_nodeFound path in 0 iterations (7.07e-07 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.78sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Received new action goal ×2 + 11.78sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Accepted new action goal ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 31 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214426 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214426 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487231 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487231 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786718579.78149557 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853540 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853540 ms (missed cycles : 2).[0m ×2 + 2.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.90sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786718580.46003962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.95sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786718580.53016734 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786718581.12386012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673020 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673020 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786718583.26399803 seconds ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546709 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546709 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786718584.86532688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495248 ms (missed cycles : 3). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495248 ms (missed cycles : 3).[0m ×2 + 8.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001479 ms (missed cycles : 4). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001479 ms (missed cycles : 4).[0m ×2 + 8.86sINFOobjective_server_node[2026-08-14 14:43:06.424] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.60sINFOobjective_server_node[0;93m2026-08-14 14:43:07.163408631 [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 + 9.60sINFOobjective_server_node[0;93m2026-08-14 14:43:07.163435004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.8s | 3 errors · 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340553 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340553 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096681 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096681 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Canceling active goal... ×2 + 3.69sERRORobjective_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: 1786718799.59548879 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718800.20089436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718801.45102286 seconds ×3 + 6.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786718802.04311252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.14sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786718802.04632282 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786718802.77237296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786718802.77281594 seconds ×3 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926643 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926643 ms (missed cycles : 5).[0m ×2 + 7.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786718803.36128426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732243 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732243 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 34 warnings · 563 info |
+ 0.00sINFOobjective_server_node[2026-08-14 14:41:39.434] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.12sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.13sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.36sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.36sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.55sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.81sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.81sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.81sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.81sWARNros2_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 + 0.81sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.81sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.81sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.81sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.81sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.81sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.81sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.82sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.82sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.82sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.82sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.82sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.82sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.82sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.82sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.82sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.82sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.82sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.82sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 1.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.04sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.04sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.04sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.04sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.04sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.05sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.05sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.05sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738116 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738116 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.34sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.37sINFOros2-4process has finished cleanly [pid 8983] ×2 + 1.38sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.40sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.40sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.40sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.73sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.73sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.74sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.76sINFOros2-3process has finished cleanly [pid 8982] ×2 + 1.80sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.80sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.80sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.80sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.80sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.80sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.80sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.80sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.81sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.81sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.81sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.83sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.83sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.84sINFOcomponent_container_mt[2026-08-14 14:41:41.276] [moveit_pro_license] [info] ×2 + 1.84sINFOcomponent_container_mt************************************************* ×4 + 1.84sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.84sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 2.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 2.12sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.12sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.12sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.15sINFOros2-5process has finished cleanly [pid 8984] ×2 + 2.28sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 2.28sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 2.32sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.32sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.32sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.32sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3).[0m ×2 + 2.36sINFOros2_control_node[2026-08-14 14:41:41.794] [info] Controller state will be published at 20 Hz. ×2 + 2.36sINFOros2_control_node[2026-08-14 14:41:41.796] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.67sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.67sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.68sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.68sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 2.68sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 2.70sINFOros2-8process has finished cleanly [pid 8987] ×2 + 2.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.72sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.73sINFOforce_torque_sensor_broadcasterconfigure successful + 2.73sINFOros2_control_nodeconfigure successful[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.05sINFOros2-2process has finished cleanly [pid 8981] ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 3.14sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 3.18sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.18sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.18sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.18sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.18sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.18sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.21sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 3.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 3.22sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.54sINFOros2-6process has finished cleanly [pid 8985] ×2 + 3.56sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.56sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.56sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.56sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 3.67sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 3.67sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 3.72sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.72sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.73sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.73sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.75sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 3.75sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.03sINFOros2-7process has finished cleanly [pid 8986] ×2 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 5.10sWARNros2_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 ×2 + 5.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 6.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 6.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 7.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 7.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868106 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868106 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.63sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 2.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.64sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 3.16sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1786718518.08628297 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.78sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530539 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214426 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214426 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487231 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487231 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786718579.78149557 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853540 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853540 ms (missed cycles : 2).[0m ×2 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.49sWARNros2_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 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786718580.46003962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786718580.53016734 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786718581.12386012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673020 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673020 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786718583.26399803 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 31 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_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 + 1.59sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Got request to cancel active goal. ×2 + 1.59sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Canceling active goal... ×2 + 1.60sERRORobjective_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: 1786718799.59548879 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718800.20089436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718801.45102286 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786718802.04311252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.05sINFOobjective_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 + 4.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786718802.04632282 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786718802.77237296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786718802.77281594 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926643 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926643 ms (missed cycles : 5).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786718803.36128426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732243 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732243 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786718804.45142341 seconds ×3 + 6.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509163 ms (missed cycles : 5). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509163 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373948 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373948 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_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 + 3.67sERRORobjective_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: 1786718787.08440399 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950899 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.950899 ms (missed cycles : 5).[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:42:10.667] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-14 14:42:10.667] [info] Accepted new action goal ×2 + 0.70sWARNros2_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 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.07sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.08sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Received new action goal ×2 + 2.08sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786718533.91841912 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786718534.54425216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786718534.59438682 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786718535.24848104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.92sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3).[0m ×2 + 6.70sWARNros2_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 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 466 info |
+ 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8983] ×2 + 0.04sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 8982] ×2 + 0.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcomponent_container_mt[2026-08-14 14:41:41.276] [moveit_pro_license] [info] ×2 + 0.50sINFOcomponent_container_mt************************************************* ×4 + 0.50sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.50sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2-5process has finished cleanly [pid 8984] ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3).[0m ×2 + 1.01sINFOros2_control_node[2026-08-14 14:41:41.794] [info] Controller state will be published at 20 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-14 14:41:41.796] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.33sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.33sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.33sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.35sINFOros2-8process has finished cleanly [pid 8987] ×2 + 1.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.38sINFOforce_torque_sensor_broadcasterconfigure successful + 1.38sINFOros2_control_nodeconfigure successful[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.70sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.70sINFOros2-2process has finished cleanly [pid 8981] ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.83sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.20sINFOros2-6process has finished cleanly [pid 8985] ×2 + 2.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 2.33sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 2.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 2.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.38sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.41sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 2.41sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.68sINFOros2-7process has finished cleanly [pid 8986] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 3.75sWARNros2_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 ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 7.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.18sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.19sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 7.20sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×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 8.508393 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_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 + 2.64sERRORobjective_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: 1786718787.08440399 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_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 + 1.59sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Got request to cancel active goal. ×2 + 1.59sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Canceling active goal... ×2 + 1.60sERRORobjective_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: 1786718799.59548879 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.61sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718800.20089436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718801.45102286 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786718802.04311252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.05sINFOobjective_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 + 4.05sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.05sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786718802.04632282 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786718802.77237296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786718802.77281594 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926643 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.926643 ms (missed cycles : 5).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786718803.36128426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732243 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732243 ms (missed cycles : 3).[0m ×2 + 6.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786718804.45142341 seconds ×3 + 6.50sWARNINGlaunchuser 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 1.779535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_node[2026-08-14 14:43:08.192] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677282127 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677321084 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.46sINFOobjective_server_node[2026-08-14 14:43:08.842] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-14 14:43:08.893635430 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898735843 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898765814 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.58sINFOobjective_server_node[2026-08-14 14:43:08.964] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.94sINFOobjective_server_node[0;93m2026-08-14 14:43:09.317613422 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338899714 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338926576 [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 1.765061 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765061 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4).[0m ×2 + 3.67sWARNros2_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 + 3.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786718591.14703107 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786718591.83143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_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 + 4.54sINFOobjective_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 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (7.07e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 1.99sINFOobjective_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 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1786718518.08628297 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786718533.91841912 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786718534.54425216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786718534.59438682 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786718535.24848104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[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 3.847758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847758 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422311 ms (missed cycles : 5).[0m ×2 + 1.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-08-14 14:42:23.420] [info] Accepted new action goal ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869453 ms (missed cycles : 3).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607963 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_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 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Got request to cancel active goal. ×2 + 3.47sINFOros2_control_node[2026-08-14 14:42:25.578] [info] Canceling active goal... ×2 + 3.47sERRORobjective_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: 1786718545.58142519 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786718546.23570967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:42:26.430] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599747 ms (missed cycles : 2).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.619761 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786718580.46003962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786718580.53016734 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786718581.12386012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Accepted new action goal ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5).[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673020 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673020 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786718583.26399803 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546709 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546709 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786718584.86532688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495248 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495248 ms (missed cycles : 3).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001479 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.001479 ms (missed cycles : 4).[0m ×2 + 5.96sINFOobjective_server_node[2026-08-14 14:43:06.424] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-14 14:43:07.163408631 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-14 14:43:07.163435004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 25 warnings · 2589 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×420 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×420 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×840 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×840 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690321 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690321 ms (missed cycles : 2).[0m ×2 + 0.93sWARNros2_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 ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459807 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459807 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849528 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849528 ms (missed cycles : 2).[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113894 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113894 ms (missed cycles : 2).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786718712.39474583 seconds ×3 + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786718713.04116488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013212 ms (missed cycles : 6). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013212 ms (missed cycles : 6).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 67 iterations (0.021222 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X__________________________X] ×2 + 4.92sINFOros2_control_node[2026-08-14 14:45:13.327] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-14 14:45:13.327] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178626 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178626 ms (missed cycles : 2).[0m ×2 + 6.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634806 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634806 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[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 3.373948 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373948 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_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 + 3.67sERRORobjective_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: 1786718787.08440399 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[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 8.508393 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_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 + 2.64sERRORobjective_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: 1786718787.08440399 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 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 8.508393 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_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 + 2.64sERRORobjective_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: 1786718787.08440399 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340553 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340553 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096681 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096681 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Canceling active goal... ×2 + 3.69sERRORobjective_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: 1786718799.59548879 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718800.20089436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718801.45102286 seconds ×3 + 6.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786718802.04311252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.14sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786718802.04632282 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340553 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340553 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096681 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096681 ms (missed cycles : 2).[0m ×2 + 2.10sWARNros2_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 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.880114 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954324 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Got request to cancel active goal. ×2 + 3.68sINFOros2_control_node[2026-08-14 14:46:39.584] [info] Canceling active goal... ×2 + 3.69sERRORobjective_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: 1786718799.59548879 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786718800.20089436 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.104297 ms (missed cycles : 6).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912679 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786718801.45102286 seconds ×3 + 6.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786718802.04311252 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 6.14sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 6.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 6.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786718802.04632282 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036157 ms (missed cycles : 2).[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 6.868106 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868106 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.63sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 2.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.64sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 3.16sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1786718518.08628297 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.78sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 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 6.868106 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868106 ms (missed cycles : 5).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.63sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 2.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.64sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 2.64sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 3.16sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1786718518.08628297 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.78sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 1.99sINFOobjective_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 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1786718518.08628297 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 1.99sINFOobjective_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 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1786718518.08628297 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901561 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288845 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-14 14:41:57.554] [info] Accepted new action goal ×2 + 1.99sINFOobjective_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 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Got request to cancel active goal. ×2 + 1.99sINFOros2_control_node[2026-08-14 14:41:58.070] [info] Canceling active goal... ×2 + 2.01sERRORobjective_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: 1786718518.08628297 seconds ×3 + 2.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261462 ms (missed cycles : 2).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786718518.71979976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786718518.83990240 seconds ×3 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312309 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786718519.47678304 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-08-14 14:41:59.690] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302722 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737129 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786718533.91841912 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786718534.54425216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786718534.59438682 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786718535.24848104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786718533.91841912 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786718534.54425216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786718534.59438682 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786718535.24848104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786718533.91841912 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786718534.54425216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786718534.59438682 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786718535.24848104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 25 warnings · 83 info |
+ 0.00sWARNros2_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 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.928633 ms (missed cycles : 4).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Received new action goal ×2 + 1.38sINFOros2_control_node[2026-08-14 14:42:12.532] [info] Accepted new action goal ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699223 ms (missed cycles : 2).[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863940 ms (missed cycles : 2).[0m ×2 + 2.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786718533.91841912 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786718534.54425216 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786718534.59438682 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652926 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786718535.24848104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-14 14:42:15.373] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602640 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812435 ms (missed cycles : 3).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.620504 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612136 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612136 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437851 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437851 ms (missed cycles : 3).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (1.92e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.21sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 1.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.29sINFOobjective_server_nodeFound path in 1 iterations (0.00339062 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.48sINFOros2_control_node[2026-08-14 14:42:45.341] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-08-14 14:42:45.341] [info] Accepted new action goal ×2 + 1.91sINFOros2_control_node[2026-08-14 14:42:45.772] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-14 14:42:45.772] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134498 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.134498 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093438 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093438 ms (missed cycles : 3).[0m ×2 + 3.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.81sINFOobjective_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 + 3.81sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.81sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.82sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.82sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.86sERRORobjective_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: 1786718567.71746540 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288615 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288615 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786718568.49776745 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 4.84sINFOros2_control_node[2026-08-14 14:42:48.696] [info] Received new action goal ×2 + 4.84sINFOros2_control_node[2026-08-14 14:42:48.696] [info] Accepted new action goal ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.093597 ms (missed cycles : 7). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.093597 ms (missed cycles : 7).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951748 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951748 ms (missed cycles : 2).[0m ×2 + 6.42sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[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 2.530539 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.530539 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214426 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214426 ms (missed cycles : 2).[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487231 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487231 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786718579.78149557 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853540 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853540 ms (missed cycles : 2).[0m ×2 + 3.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.49sWARNros2_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 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.08sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786718580.46003962 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.13sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786718580.53016734 seconds ×3 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261160 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786718581.12386012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.89sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-14 14:43:01.260] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.749722 ms (missed cycles : 5).[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 1.779535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_node[2026-08-14 14:43:08.192] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677282127 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677321084 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.46sINFOobjective_server_node[2026-08-14 14:43:08.842] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-14 14:43:08.893635430 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898735843 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898765814 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.58sINFOobjective_server_node[2026-08-14 14:43:08.964] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.94sINFOobjective_server_node[0;93m2026-08-14 14:43:09.317613422 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338899714 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338926576 [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 1.765061 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765061 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4).[0m ×2 + 3.67sWARNros2_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 + 3.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786718591.14703107 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786718591.83143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_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 + 4.54sINFOobjective_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 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (7.07e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3).[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 1.779535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_node[2026-08-14 14:43:08.192] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677282127 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677321084 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.46sINFOobjective_server_node[2026-08-14 14:43:08.842] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-14 14:43:08.893635430 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898735843 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898765814 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.58sINFOobjective_server_node[2026-08-14 14:43:08.964] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.94sINFOobjective_server_node[0;93m2026-08-14 14:43:09.317613422 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338899714 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338926576 [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 1.765061 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765061 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4).[0m ×2 + 3.67sWARNros2_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 + 3.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786718591.14703107 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786718591.83143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_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 + 4.54sINFOobjective_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 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (7.07e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3).[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 1.779535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_node[2026-08-14 14:43:08.192] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677282127 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677321084 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.46sINFOobjective_server_node[2026-08-14 14:43:08.842] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-14 14:43:08.893635430 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898735843 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898765814 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.58sINFOobjective_server_node[2026-08-14 14:43:08.964] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.94sINFOobjective_server_node[0;93m2026-08-14 14:43:09.317613422 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338899714 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338926576 [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 1.765061 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765061 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4).[0m ×2 + 3.67sWARNros2_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 + 3.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786718591.14703107 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786718591.83143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_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 + 4.54sINFOobjective_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 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (7.07e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3).[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 1.779535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779535 ms (missed cycles : 2).[0m ×2 + 0.81sINFOobjective_server_node[2026-08-14 14:43:08.192] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902528 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677282127 [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 + 1.30sINFOobjective_server_node[0;93m2026-08-14 14:43:08.677321084 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.46sINFOobjective_server_node[2026-08-14 14:43:08.842] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.51sINFOobjective_server_node[0;93m2026-08-14 14:43:08.893635430 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898735843 [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 + 1.52sINFOobjective_server_node[0;93m2026-08-14 14:43:08.898765814 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.58sINFOobjective_server_node[2026-08-14 14:43:08.964] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.94sINFOobjective_server_node[0;93m2026-08-14 14:43:09.317613422 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338899714 [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 + 1.96sINFOobjective_server_node[0;93m2026-08-14 14:43:09.338926576 [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 1.765061 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765061 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194724 ms (missed cycles : 4).[0m ×2 + 3.67sWARNros2_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 + 3.76sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786718591.14703107 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.803553 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786718591.83143568 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.53sINFOobjective_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 + 4.54sINFOobjective_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 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (7.07e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Received new action goal ×2 + 4.86sINFOros2_control_node[2026-08-14 14:43:12.238] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017473 ms (missed cycles : 2).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970125 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591128 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591128 ms (missed cycles : 2).[0m ×2 + 0.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.02sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.02sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.02sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.14sINFOros2_control_node[2026-08-14 14:44:02.242] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-14 14:44:02.242] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.110100 ms (missed cycles : 7). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.110100 ms (missed cycles : 7).[0m ×2 + 1.77sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125616 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125616 ms (missed cycles : 3).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949455 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.949455 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786718645.85578346 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677629 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.677629 ms (missed cycles : 4).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786718646.46500492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.54sINFOros2_control_node[2026-08-14 14:44:06.648] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-08-14 14:44:06.648] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872496 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872496 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_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 + 5.81sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.87sINFOobjective_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 ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000753 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000753 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 25 warnings · 2589 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×420 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×420 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×840 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×840 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690321 ms (missed cycles : 2). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690321 ms (missed cycles : 2).[0m ×2 + 0.93sWARNros2_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 ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459807 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459807 ms (missed cycles : 2).[0m ×2 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849528 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849528 ms (missed cycles : 2).[0m ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113894 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113894 ms (missed cycles : 2).[0m ×2 + 3.99sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.99sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786718712.39474583 seconds ×3 + 3.99sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786718713.04116488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013212 ms (missed cycles : 6). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.013212 ms (missed cycles : 6).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 67 iterations (0.021222 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X__________________________X] ×2 + 4.92sINFOros2_control_node[2026-08-14 14:45:13.327] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-14 14:45:13.327] [info] Accepted new action goal ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178626 ms (missed cycles : 2). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178626 ms (missed cycles : 2).[0m ×2 + 6.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634806 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634806 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036478 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036478 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703762 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703762 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283865 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.03sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786718743.75195241 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314192 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314192 ms (missed cycles : 5).[0m ×2 + 3.37sWARNros2_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 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786718744.42867589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-08-14 14:45:44.673] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-14 14:45:44.673] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864571 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864571 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113826 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113826 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036478 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.036478 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703762 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703762 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283865 ms (missed cycles : 2).[0m ×2 + 2.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.03sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786718743.75195241 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314192 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.314192 ms (missed cycles : 5).[0m ×2 + 3.37sWARNros2_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 + 3.71sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786718744.42867589 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.96sINFOros2_control_node[2026-08-14 14:45:44.673] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-14 14:45:44.673] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864571 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864571 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113826 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113826 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297721 ms (missed cycles : 2).[0m ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-08-14 14:45:50.986] [info] Accepted new action goal ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727109 ms (missed cycles : 3).[0m ×2 + 1.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Received new action goal ×2 + 2.15sINFOros2_control_node[2026-08-14 14:45:52.859] [info] Accepted new action goal ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830099 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786718754.24116302 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.604477 ms (missed cycles : 4).[0m ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sWARNros2_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 + 4.55sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786718755.25592661 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.72sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-14 14:45:55.430] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664207 ms (missed cycles : 3).[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.640030 ms (missed cycles : 4).[0m ×2 + 6.64sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463460 ms (missed cycles : 3).[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 4.766896 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.766896 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749494 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749494 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015531 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015531 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416140 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416140 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_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 + 3.77sERRORobjective_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: 1786718765.57636333 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079577 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079577 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786718766.21253014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.70sINFOros2_control_node[2026-08-14 14:46:06.506] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-14 14:46:06.506] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218190 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218190 ms (missed cycles : 4).[0m ×2 + 6.02sWARNros2_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 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029790 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029790 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655858 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655858 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243105 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243105 ms (missed cycles : 3).[0m ×2 + 1.26sWARNros2_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 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256465 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256465 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939720 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939720 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786718776.09991574 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786718776.70408750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.31sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.32sINFOros2_control_node[2026-08-14 14:46:16.848] [info] Received new action goal ×2 + 4.32sINFOros2_control_node[2026-08-14 14:46:16.848] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072625 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072625 ms (missed cycles : 3).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586673 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.586673 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 3.373948 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373948 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_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 + 3.67sERRORobjective_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: 1786718787.08440399 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 3.373948 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373948 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_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 + 3.67sERRORobjective_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: 1786718787.08440399 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[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 3.373948 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373948 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 1.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 3.66sINFOobjective_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 + 3.67sERRORobjective_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: 1786718787.08440399 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.03sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[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 8.508393 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.508393 ms (missed cycles : 6).[0m ×2 + 0.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628776 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191463 ms (missed cycles : 5).[0m ×2 + 2.63sINFOobjective_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 + 2.64sERRORobjective_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: 1786718787.08440399 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.524041 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786718787.73840737 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786718787.81855011 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786718788.42159247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_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 + 4.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786718788.44458652 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347785 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786718789.09030509 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-14 14:46:29.214] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620493 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.767327 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.8s | 38 warnings · 617 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/2026-08-14-14-41-33-909413-601206dd8863-8932 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3). + 2.04sINFOros2_control_node-1process started with pid [8980] ×2 + 2.04sINFOmove_group-9process started with pid [9017] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [9018] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [9019] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [9020] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [9021] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [9022] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [9023] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [9024] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [9025] ×2 + 2.06sINFOui_teleop_bridge-18process started with pid [9026] ×2 + 2.06sINFOweb_bridge-19process started with pid [9027] ×2 + 2.06sINFOtf2_web_republisher_node-20process started with pid [9091] ×2 + 2.06sINFOvideo_server-21process started with pid [9092] ×2 + 2.06sINFOweb_bridge_auth_proxy-22process started with pid [9093] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9094] ×2 + 2.06sINFOros2-2process started with pid [8981] ×2 + 2.07sINFOros2-3process started with pid [8982] ×2 + 2.07sINFOros2-4process started with pid [8983] ×2 + 2.07sINFOros2-5process started with pid [8984] ×2 + 2.07sINFOros2-6process started with pid [8985] ×2 + 2.07sINFOros2-7process started with pid [8986] ×2 + 2.07sINFOros2-8process started with pid [8987] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.12sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.12sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.13sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.50sINFOvideo_server2026/08/14 14:41:37 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.50sINFOvideo_server2026/08/14 14:41:37 INF configuration loaded from /tmp/moveit-webrtc-gaq0911p/mediamtx.yml ×2 + 2.50sINFOvideo_server2026/08/14 14:41:37 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.50sINFOvideo_server2026/08/14 14:41:37 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326195 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326195 ms (missed cycles : 2).[0m ×2 + 3.00sINFOmove_group[2026-08-14 14:41:37.650] [moveit_pro_license] [info] ×2 + 3.00sINFOmove_group************************************************* ×4 + 3.00sINFOmove_group* MoveIt Pro License ×2 + 3.00sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.35sINFOwaypoint_manager_node[2026-08-14 14:41:37.999] [moveit_pro_license] [info] ×2 + 3.35sINFOwaypoint_manager_node************************************************* ×4 + 3.35sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.35sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.37sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.43sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.43sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.44sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.44sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.45sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.46sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.47sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.58sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.63sINFOmove_group ×4 + 3.63sINFOmove_group[92mYou can start planning now![0m ×2 + 3.74sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.74sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.74sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.74sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.78sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.78sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470822 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470822 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_node[2026-08-14 14:41:39.434] [moveit_pro_license] [info] ×2 + 4.77sINFOobjective_server_node************************************************* ×4 + 4.77sINFOobjective_server_node* MoveIt Pro License ×2 + 4.77sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.89sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.89sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.91sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.91sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.91sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.91sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.91sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.91sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.91sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.91sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.13sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.13sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.32sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.58sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.58sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.59sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.59sWARNros2_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 + 5.59sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.59sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.59sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.59sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.59sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.59sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.59sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.59sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.59sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.59sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.59sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.59sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.59sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.59sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.59sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.59sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.59sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.59sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.59sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.79sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.79sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.79sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.79sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.79sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 5.79sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 5.81sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.81sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.81sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.81sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.81sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.81sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.82sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.82sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738116 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738116 ms (missed cycles : 2).[0m ×2 + 6.11sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.11sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.11sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.11sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.12sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 6.12sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 6.13sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.13sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.15sINFOros2-4process has finished cleanly [pid 8983] ×2 + 6.16sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.17sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.17sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.17sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.17sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.17sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.17sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.18sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.18sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.51sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 6.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 6.53sINFOros2-3process has finished cleanly [pid 8982] ×2 + 6.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.57sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.57sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.57sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.57sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.60sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.60sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.61sINFOcomponent_container_mt[2026-08-14 14:41:41.276] [moveit_pro_license] [info] ×2 + 6.61sINFOcomponent_container_mt************************************************* ×4 + 6.61sINFOcomponent_container_mt* MoveIt Pro License ×2 + 6.61sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 6.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 6.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.89sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.89sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.90sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.90sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.92sINFOros2-5process has finished cleanly [pid 8984] ×2 + 7.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 7.05sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 7.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3).[0m ×2 + 7.13sINFOros2_control_node[2026-08-14 14:41:41.794] [info] Controller state will be published at 20 Hz. ×2 + 7.13sINFOros2_control_node[2026-08-14 14:41:41.796] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.25sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 7.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 7.47sINFOros2-8process has finished cleanly [pid 8987] ×2 + 7.49sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.50sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.50sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.50sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.50sINFOforce_torque_sensor_broadcasterconfigure successful + 7.50sINFOros2_control_nodeconfigure successful[0m ×2 + 7.51sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.51sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.51sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.51sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.81sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.81sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.82sINFOros2-2process has finished cleanly [pid 8981] ×2 + 7.91sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 7.91sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 7.95sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.95sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.96sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.96sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.96sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.98sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.99sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.99sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 7.99sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 7.99sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 8.32sINFOros2-6process has finished cleanly [pid 8985] ×2 + 8.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 8.45sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 8.45sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 8.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.53sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 8.53sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.58sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.80sINFOros2-7process has finished cleanly [pid 8986] ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 9.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 9.87sWARNros2_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 ×2 + 10.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 10.98sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.00sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 333 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8987] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 8981] ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.51sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.51sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.54sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 0.55sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.87sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.89sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.89sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.89sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 1.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 1.08sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.35sINFOros2-7process has finished cleanly [pid 8986] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 2.42sWARNros2_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 ×2 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_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 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.87sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 388 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.05sINFOros2-5process has finished cleanly [pid 8984] ×2 + 0.17sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.22sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.22sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3).[0m ×2 + 0.26sINFOros2_control_node[2026-08-14 14:41:41.794] [info] Controller state will be published at 20 Hz. ×2 + 0.26sINFOros2_control_node[2026-08-14 14:41:41.796] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.59sINFOros2-8process has finished cleanly [pid 8987] ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.94sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sINFOros2-2process has finished cleanly [pid 8981] ×2 + 1.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.08sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.08sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.11sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 1.12sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.44sINFOros2-6process has finished cleanly [pid 8985] ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 1.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.65sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 1.65sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.92sINFOros2-7process has finished cleanly [pid 8986] ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 2.99sWARNros2_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 ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 5.47sWARNros2_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 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 333 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8987] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 8981] ×2 + 0.46sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.46sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.51sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.51sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.51sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.53sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.54sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.54sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 0.55sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.87sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.89sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.89sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.89sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 1.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 1.08sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.35sINFOros2-7process has finished cleanly [pid 8986] ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 2.42sWARNros2_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 ×2 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 5.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_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 + 5.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 5.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.87sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.87sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 437 info |
+ 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8983] ×2 + 0.04sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 8982] ×2 + 0.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcomponent_container_mt[2026-08-14 14:41:41.276] [moveit_pro_license] [info] ×2 + 0.50sINFOcomponent_container_mt************************************************* ×4 + 0.50sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.50sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2-5process has finished cleanly [pid 8984] ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3).[0m ×2 + 1.01sINFOros2_control_node[2026-08-14 14:41:41.794] [info] Controller state will be published at 20 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-14 14:41:41.796] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.33sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.33sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.33sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.35sINFOros2-8process has finished cleanly [pid 8987] ×2 + 1.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.38sINFOforce_torque_sensor_broadcasterconfigure successful + 1.38sINFOros2_control_nodeconfigure successful[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.70sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.70sINFOros2-2process has finished cleanly [pid 8981] ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.83sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.20sINFOros2-6process has finished cleanly [pid 8985] ×2 + 2.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 2.33sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 2.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 2.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.38sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.41sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 2.41sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.68sINFOros2-7process has finished cleanly [pid 8986] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 3.75sWARNros2_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 ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-14-14-41-33-909413-601206dd8863-8932 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3). + 2.04sINFOros2_control_node-1process started with pid [8980] ×2 + 2.04sINFOmove_group-9process started with pid [9017] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [9018] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [9019] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [9020] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [9021] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [9022] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [9023] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [9024] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [9025] ×2 + 2.06sINFOui_teleop_bridge-18process started with pid [9026] ×2 + 2.06sINFOweb_bridge-19process started with pid [9027] ×2 + 2.06sINFOtf2_web_republisher_node-20process started with pid [9091] ×2 + 2.06sINFOvideo_server-21process started with pid [9092] ×2 + 2.06sINFOweb_bridge_auth_proxy-22process started with pid [9093] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9094] ×2 + 2.06sINFOros2-2process started with pid [8981] ×2 + 2.07sINFOros2-3process started with pid [8982] ×2 + 2.07sINFOros2-4process started with pid [8983] ×2 + 2.07sINFOros2-5process started with pid [8984] ×2 + 2.07sINFOros2-6process started with pid [8985] ×2 + 2.07sINFOros2-7process started with pid [8986] ×2 + 2.07sINFOros2-8process started with pid [8987] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.12sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.12sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.12sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.12sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.12sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.12sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774145 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.13sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.21sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.50sINFOvideo_server2026/08/14 14:41:37 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.50sINFOvideo_server2026/08/14 14:41:37 INF configuration loaded from /tmp/moveit-webrtc-gaq0911p/mediamtx.yml ×2 + 2.50sINFOvideo_server2026/08/14 14:41:37 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.50sINFOvideo_server2026/08/14 14:41:37 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 437 info |
+ 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8983] ×2 + 0.04sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 8982] ×2 + 0.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcomponent_container_mt[2026-08-14 14:41:41.276] [moveit_pro_license] [info] ×2 + 0.50sINFOcomponent_container_mt************************************************* ×4 + 0.50sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.50sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2-5process has finished cleanly [pid 8984] ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3).[0m ×2 + 1.01sINFOros2_control_node[2026-08-14 14:41:41.794] [info] Controller state will be published at 20 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-14 14:41:41.796] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.33sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.33sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.33sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.35sINFOros2-8process has finished cleanly [pid 8987] ×2 + 1.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.38sINFOforce_torque_sensor_broadcasterconfigure successful + 1.38sINFOros2_control_nodeconfigure successful[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.70sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.70sINFOros2-2process has finished cleanly [pid 8981] ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.83sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.20sINFOros2-6process has finished cleanly [pid 8985] ×2 + 2.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 2.33sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 2.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 2.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.38sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.41sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 2.41sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.68sINFOros2-7process has finished cleanly [pid 8986] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 3.75sWARNros2_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 ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 388 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.05sINFOros2-5process has finished cleanly [pid 8984] ×2 + 0.17sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.22sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.22sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.22sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.22sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3).[0m ×2 + 0.26sINFOros2_control_node[2026-08-14 14:41:41.794] [info] Controller state will be published at 20 Hz. ×2 + 0.26sINFOros2_control_node[2026-08-14 14:41:41.796] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.57sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.57sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.57sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.57sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.59sINFOros2-8process has finished cleanly [pid 8987] ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.63sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.94sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.94sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sINFOros2-2process has finished cleanly [pid 8981] ×2 + 1.03sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.03sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.08sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.08sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.08sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.11sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 1.12sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.44sINFOros2-6process has finished cleanly [pid 8985] ×2 + 1.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 1.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.62sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.62sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.65sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 1.65sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.92sINFOros2-7process has finished cleanly [pid 8986] ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 2.99sWARNros2_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 ×2 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 3.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 3.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 4.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 4.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 5.47sWARNros2_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 + 5.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 437 info |
+ 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 8983] ×2 + 0.04sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.41sINFOros2-3process has finished cleanly [pid 8982] ×2 + 0.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.48sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.49sINFOcomponent_container_mt[2026-08-14 14:41:41.276] [moveit_pro_license] [info] ×2 + 0.50sINFOcomponent_container_mt************************************************* ×4 + 0.50sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.50sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.80sINFOros2-5process has finished cleanly [pid 8984] ×2 + 0.93sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.93sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.98sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522943 ms (missed cycles : 3).[0m ×2 + 1.01sINFOros2_control_node[2026-08-14 14:41:41.794] [info] Controller state will be published at 20 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-14 14:41:41.796] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.17sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.17sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.33sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.33sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.33sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.33sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.33sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.35sINFOros2-8process has finished cleanly [pid 8987] ×2 + 1.38sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.38sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.38sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.38sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.38sINFOforce_torque_sensor_broadcasterconfigure successful + 1.38sINFOros2_control_nodeconfigure successful[0m ×2 + 1.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.39sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.39sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.70sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.70sINFOros2-2process has finished cleanly [pid 8981] ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 1.79sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 1.83sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.83sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-14 14:41:42.617] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786718502.64246488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.649] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.649] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786718502.65267754 seconds ×3 + 1.87sINFOros2_control_node[2026-08-14 14:41:42.654] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.20sINFOros2-6process has finished cleanly [pid 8985] ×2 + 2.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 2.33sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 2.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 2.38sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.38sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.38sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.38sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.41sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 2.41sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.68sINFOros2-7process has finished cleanly [pid 8986] ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 3.75sWARNros2_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 ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 6.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 254 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 + 7.30sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 7.49sINFOobjective_server_nodePath shortcutter: [X__________________X] ×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 | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[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 | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 8985] ×2 + 0.02sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.02sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.02sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074281 ms (missed cycles : 2).[0m ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_g0hcu476 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ztlytlmd --params-file /tmp/launch_params_h284i0kv [0m ×2 + 0.18sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.187] [info] Controller state will be published at 10 Hz. ×2 + 0.21sINFOros2_control_node[2026-08-14 14:41:43.188] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.27sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786718503.24672627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-7process has finished cleanly [pid 8986] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000953 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786718504.30686402 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.37sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.56sWARNros2_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 ×2 + 1.95sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786718504.93067074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786718504.99083424 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786718505.64205742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786718505.66219616 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6). + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786718506.37900543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495188 ms (missed cycles : 6).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786718506.52975035 seconds ×3 + 4.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786718507.19966173 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786718507.24978781 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.505797 ms (missed cycles : 6).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786718507.84993696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_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 + 4.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (2.3293e-05 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-14 14:41:47.976] [info] Accepted new action goal ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.943776 ms (missed cycles : 4).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177318 ms (missed cycles : 3).[0m ×2 | ||||