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 · 19554 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_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 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.10sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.10sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.10sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.10sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.21sINFOros2_control_node[2026-08-19 12:05:07.935] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-19 12:05:07.935] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015894 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015894 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703994 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703994 ms (missed cycles : 3).[0m ×2 + 2.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087540 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087540 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787141111.54068327 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185303 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185303 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787141112.15554547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.61sINFOros2_control_node[2026-08-19 12:05:12.329] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-19 12:05:12.329] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798191 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798191 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_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 + 5.88sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.94sINFOobjective_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 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251382 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251382 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417062 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417062 ms (missed cycles : 2).[0m ×2 + 7.92sWARNros2_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 + 8.08sINFOjoint_trajectory_controllerReceived new action goal ×3217 + 8.08sINFOjoint_trajectory_controllerAccepted new action goal ×3217 + 8.08sINFOros2_control_nodeReceived new action goal[0m ×6434 + 8.09sINFOros2_control_nodeAccepted new action goal[0m ×6434 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161338 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161338 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781863 ms (missed cycles : 5). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.781863 ms (missed cycles : 5).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150928 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150928 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258404 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258404 ms (missed cycles : 2).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687416 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687416 ms (missed cycles : 3).[0m ×2 + 12.95sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.95sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.95sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508045 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508045 ms (missed cycles : 2).[0m ×2 + 14.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706775 ms (missed cycles : 2). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706775 ms (missed cycles : 2).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988811 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988811 ms (missed cycles : 2).[0m ×2 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768903 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768903 ms (missed cycles : 2).[0m ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190821 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190821 ms (missed cycles : 2).[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838471 ms (missed cycles : 2). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838471 ms (missed cycles : 2).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635161 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635161 ms (missed cycles : 2).[0m ×2 + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846440 ms (missed cycles : 2). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846440 ms (missed cycles : 2).[0m ×2 + 21.85sWARNros2_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 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201119 ms (missed cycles : 4). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201119 ms (missed cycles : 4).[0m ×2 + 23.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886692 ms (missed cycles : 3). + 23.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886692 ms (missed cycles : 3).[0m ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054278 ms (missed cycles : 2). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054278 ms (missed cycles : 2).[0m ×2 + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853493 ms (missed cycles : 2). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853493 ms (missed cycles : 2).[0m ×2 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953139 ms (missed cycles : 2). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953139 ms (missed cycles : 2).[0m ×2 + 27.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274219 ms (missed cycles : 2). + 27.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274219 ms (missed cycles : 2).[0m ×2 + 28.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281229 ms (missed cycles : 2). + 28.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281229 ms (missed cycles : 2).[0m ×2 + 28.81sWARNros2_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 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261056 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261056 ms (missed cycles : 2).[0m ×2 + 30.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678496 ms (missed cycles : 2). + 30.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678496 ms (missed cycles : 2).[0m ×2 + 31.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562781 ms (missed cycles : 4). + 31.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562781 ms (missed cycles : 4).[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558468 ms (missed cycles : 2). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558468 ms (missed cycles : 2).[0m ×2 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986904 ms (missed cycles : 2). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986904 ms (missed cycles : 2).[0m ×2 + 34.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688675 ms (missed cycles : 2). + 34.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.688675 ms (missed cycles : 2).[0m ×2 + 34.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951314 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951314 ms (missed cycles : 2).[0m ×2 + 36.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684218 ms (missed cycles : 2). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684218 ms (missed cycles : 2).[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974729 ms (missed cycles : 2). + 38.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974729 ms (missed cycles : 2).[0m ×2 + 39.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773802 ms (missed cycles : 2). + 39.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773802 ms (missed cycles : 2).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989883 ms (missed cycles : 2). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989883 ms (missed cycles : 2).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856826 ms (missed cycles : 2). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856826 ms (missed cycles : 2).[0m ×2 + 41.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717797 ms (missed cycles : 2). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717797 ms (missed cycles : 2).[0m ×2 + 43.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428673 ms (missed cycles : 2). + 43.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428673 ms (missed cycles : 2).[0m ×2 + 44.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725592 ms (missed cycles : 2). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725592 ms (missed cycles : 2).[0m ×2 + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121149 ms (missed cycles : 2). + 45.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121149 ms (missed cycles : 2).[0m ×2 + 46.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 46.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 47.15sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791152 ms (missed cycles : 2). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791152 ms (missed cycles : 2).[0m ×2 + 48.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787141155.97707987 seconds ×3 + 48.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724595 ms (missed cycles : 2). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724595 ms (missed cycles : 2).[0m ×2 + 48.70sWARNros2_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 + 48.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787141156.63240027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.96sINFOobjective_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 + 48.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 49.06sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 49.08sINFOros2_control_node[2026-08-19 12:05:56.796] [info] Received new action goal ×2 + 49.08sINFOros2_control_node[2026-08-19 12:05:56.796] [info] Accepted new action goal ×2 + 49.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969964 ms (missed cycles : 2). + 49.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969964 ms (missed cycles : 2).[0m ×2 + 50.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534640 ms (missed cycles : 3). + 50.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534640 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 154 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_node[2026-08-19 12:04:14.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669013076 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669043610 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sINFOobjective_server_node[2026-08-19 12:04:14.834] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5).[0m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-19 12:04:14.908856758 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914490912 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914527196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.25sINFOobjective_server_node[2026-08-19 12:04:15.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.85sINFOobjective_server_node[0;93m2026-08-19 12:04:15.629805573 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666730759 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666773759 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787141057.63940954 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787141058.32929993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.63sINFOobjective_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 + 4.64sINFOobjective_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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522429 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522429 ms (missed cycles : 2).[0m ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 7.86sINFOros2_control_node[2026-08-19 12:04:21.634] [info] Received new action goal ×2 + 7.86sINFOros2_control_node[2026-08-19 12:04:21.634] [info] Accepted new action goal ×2 + 8.60sWARNros2_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 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901275 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901275 ms (missed cycles : 3).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.372325 ms (missed cycles : 7). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.372325 ms (missed cycles : 7).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483795 ms (missed cycles : 5). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483795 ms (missed cycles : 5).[0m ×2 + 11.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 11.03sINFOros2_control_node[2026-08-19 12:04:24.804] [info] Received new action goal ×2 + 11.03sINFOros2_control_node[2026-08-19 12:04:24.804] [info] Accepted new action goal ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790609 ms (missed cycles : 3). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790609 ms (missed cycles : 3).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.735488 ms (missed cycles : 8). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.735488 ms (missed cycles : 8).[0m ×2 + 14.00sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 14.01sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.06sINFOros2_control_node[2026-08-19 12:04:27.837] [info] Received new action goal ×2 + 14.06sINFOros2_control_node[2026-08-19 12:04:27.837] [info] Accepted new action goal ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.547335 ms (missed cycles : 9). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.547335 ms (missed cycles : 9).[0m ×2 + 14.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246167 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246167 ms (missed cycles : 2).[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463897 ms (missed cycles : 2). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463897 ms (missed cycles : 2).[0m ×2 + 17.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 17.02sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 17.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.02sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 17.02sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 17.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.03sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856472 ms (missed cycles : 2). + 17.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856472 ms (missed cycles : 2).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688438 ms (missed cycles : 3). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688438 ms (missed cycles : 3).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036679 ms (missed cycles : 4). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036679 ms (missed cycles : 4).[0m ×2 + 19.77sWARNros2_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 + 20.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968937 ms (missed cycles : 2). + 20.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968937 ms (missed cycles : 2).[0m ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492283 ms (missed cycles : 3). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492283 ms (missed cycles : 3).[0m ×2 + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791116 ms (missed cycles : 2). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791116 ms (missed cycles : 2).[0m ×2 + 23.79sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.79sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.79sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.79sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.80sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.154864 ms (missed cycles : 7). + 24.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.154864 ms (missed cycles : 7).[0m ×2 + 24.73sINFOros2_control_node[2026-08-19 12:04:38.503] [info] Received new action goal ×2 + 24.73sINFOros2_control_node[2026-08-19 12:04:38.503] [info] Accepted new action goal ×2 + 25.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984941 ms (missed cycles : 3). + 25.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.984941 ms (missed cycles : 3).[0m ×2 + 25.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 25.89sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.90sINFOobjective_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 + 26.18sINFOobjective_server_nodeFound path in 0 iterations (5.39e-07 s). ×2 + 26.18sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 26.23sINFOros2_control_node[2026-08-19 12:04:40.006] [info] Received new action goal ×2 + 26.23sINFOros2_control_node[2026-08-19 12:04:40.006] [info] Accepted new action goal ×2 + 26.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567384 ms (missed cycles : 4). + 26.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567384 ms (missed cycles : 4).[0m ×2 + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614731 ms (missed cycles : 3). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614731 ms (missed cycles : 3).[0m ×2 + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067149 ms (missed cycles : 4). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.067149 ms (missed cycles : 4).[0m ×2 + 28.36sINFOobjective_server_nodeFound path in 0 iterations (4.28e-07 s). ×2 + 28.37sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.38sINFOros2_control_node[2026-08-19 12:04:42.153] [info] Received new action goal ×2 + 28.38sINFOros2_control_node[2026-08-19 12:04:42.153] [info] Accepted new action goal ×2 + 29.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331682 ms (missed cycles : 2). + 29.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331682 ms (missed cycles : 2).[0m ×2 + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058484 ms (missed cycles : 3). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058484 ms (missed cycles : 3).[0m ×2 + 31.41sINFOros2_control_node[2026-08-19 12:04:45.184] [info] Received new action goal ×2 + 31.41sINFOros2_control_node[2026-08-19 12:04:45.184] [info] Accepted new action goal ×2 + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621285 ms (missed cycles : 3). + 31.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.621285 ms (missed cycles : 3).[0m ×2 + 31.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 32.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185661 ms (missed cycles : 4). + 32.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185661 ms (missed cycles : 4).[0m ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708908 ms (missed cycles : 5). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.708908 ms (missed cycles : 5).[0m ×2 + 34.00sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 34.01sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.06sINFOros2_control_node[2026-08-19 12:04:47.837] [info] Received new action goal ×2 + 34.06sINFOros2_control_node[2026-08-19 12:04:47.837] [info] Accepted new action goal ×2 + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222890 ms (missed cycles : 2). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222890 ms (missed cycles : 2).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.372539 ms (missed cycles : 7). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.372539 ms (missed cycles : 7).[0m ×2 + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510101 ms (missed cycles : 2). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510101 ms (missed cycles : 2).[0m ×2 + 38.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087326 ms (missed cycles : 2). + 38.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087326 ms (missed cycles : 2).[0m ×2 + 38.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.545631 ms (missed cycles : 6). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.545631 ms (missed cycles : 6).[0m ×2 + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799664 ms (missed cycles : 3). + 40.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799664 ms (missed cycles : 3).[0m ×2 + 41.09sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695346 ms (missed cycles : 2). + 41.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695346 ms (missed cycles : 2).[0m ×2 + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829005 ms (missed cycles : 4). + 42.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829005 ms (missed cycles : 4).[0m ×2 + 43.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984213 ms (missed cycles : 5). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984213 ms (missed cycles : 5).[0m ×2 + 43.65sWARNros2_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 + 44.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409264 ms (missed cycles : 3). + 44.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409264 ms (missed cycles : 3).[0m ×2 + 44.73sINFOros2_control_node[2026-08-19 12:04:58.513] [info] Received new action goal ×2 + 44.74sINFOros2_control_node[2026-08-19 12:04:58.513] [info] Accepted new action goal ×2 + 45.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940154 ms (missed cycles : 2). + 45.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940154 ms (missed cycles : 2).[0m ×2 + 45.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787141099.66950750 seconds ×3 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284603 ms (missed cycles : 5). + 46.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284603 ms (missed cycles : 5).[0m ×2 + 46.82sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787141100.60053658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567582 ms (missed cycles : 3). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567582 ms (missed cycles : 3).[0m ×2 + 48.02sINFOobjective_server_nodeFound path in 0 iterations (7.81e-07 s). ×2 + 48.03sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.05sINFOros2_control_node[2026-08-19 12:05:01.825] [info] Received new action goal ×2 + 48.05sINFOros2_control_node[2026-08-19 12:05:01.825] [info] Accepted new action goal ×2 + 48.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069659 ms (missed cycles : 4). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069659 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.8s | 114 warnings · 2715 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×417 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×417 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×834 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×834 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966716 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966716 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756442 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756442 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283617 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283617 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783211 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783211 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.97sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787141178.12696505 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 4.00sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787141178.77499557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOobjective_server_nodeFound path in 5 iterations (0.00604378 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.88sINFOros2_control_node[2026-08-19 12:06:19.031] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-19 12:06:19.031] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490520 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490520 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411196 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411196 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848573 ms (missed cycles : 4). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.848573 ms (missed cycles : 4).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.087313 ms (missed cycles : 5). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.087313 ms (missed cycles : 5).[0m ×2 + 9.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640120 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640120 ms (missed cycles : 2).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814895 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814895 ms (missed cycles : 3).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668477 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668477 ms (missed cycles : 3).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219298 ms (missed cycles : 7). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219298 ms (missed cycles : 7).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841562 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841562 ms (missed cycles : 2).[0m ×2 + 14.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693274 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693274 ms (missed cycles : 2).[0m ×2 + 15.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912767 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912767 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375548 ms (missed cycles : 4). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.375548 ms (missed cycles : 4).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318541 ms (missed cycles : 4). + 18.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.318541 ms (missed cycles : 4).[0m ×2 + 18.85sINFOobjective_server_nodeFound path in 4 iterations (0.0033746 s). ×2 + 18.94sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.98sINFOobjective_server_nodeFound path in 14 iterations (0.00685076 s). ×2 + 19.01sINFOobjective_server_nodePath shortcutter: [X_________________________X_____________X_______________X] ×2 + 19.05sINFOobjective_server_nodeFound path in 2 iterations (0.00427242 s). ×2 + 19.11sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 19.15sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 19.20sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.22sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 19.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 19.31sINFOobjective_server_nodeFound path in 12 iterations (0.00767808 s). ×2 + 19.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021817 ms (missed cycles : 2). + 19.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021817 ms (missed cycles : 2).[0m ×2 + 19.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 19.42sINFOobjective_server_nodeFound path in 1 iterations (0.00422456 s). ×2 + 19.47sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 19.49sINFOobjective_server_nodeFound path in 0 iterations (6.66e-07 s). ×2 + 19.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.57sINFOobjective_server_nodeFound path in 4 iterations (0.00537866 s). ×2 + 19.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.69sINFOobjective_server_nodeFound path in 4 iterations (0.00334523 s). ×2 + 19.78sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.81sINFOobjective_server_nodeFound path in 1 iterations (0.00542492 s). ×2 + 19.87sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 19.89sINFOobjective_server_nodeFound path in 0 iterations (2.04e-07 s). ×2 + 19.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.98sINFOobjective_server_nodeFound path in 26 iterations (0.0191512 s). ×2 + 20.08sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_____________________X] ×2 + 20.11sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 20.20sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 20.23sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 20.33sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 20.37sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 20.51sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023634 ms (missed cycles : 2). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023634 ms (missed cycles : 2).[0m ×2 + 20.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.74sINFOros2_control_node[2026-08-19 12:06:34.893] [info] Received new action goal ×2 + 20.74sINFOros2_control_node[2026-08-19 12:06:34.893] [info] Accepted new action goal ×2 + 21.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345528 ms (missed cycles : 2). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345528 ms (missed cycles : 2).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376881 ms (missed cycles : 4). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.376881 ms (missed cycles : 4).[0m ×2 + 23.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138435 ms (missed cycles : 2). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138435 ms (missed cycles : 2).[0m ×2 + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753135 ms (missed cycles : 2). + 24.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753135 ms (missed cycles : 2).[0m ×2 + 25.74sINFOros2_control_node[2026-08-19 12:06:39.897] [info] Received new action goal ×2 + 25.74sINFOros2_control_node[2026-08-19 12:06:39.897] [info] Accepted new action goal ×2 + 25.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893531 ms (missed cycles : 2). + 25.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893531 ms (missed cycles : 2).[0m ×2 + 26.19sWARNros2_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 + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907688 ms (missed cycles : 2). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907688 ms (missed cycles : 2).[0m ×2 + 27.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.38sINFOros2_control_node[2026-08-19 12:06:41.529] [info] Received new action goal ×2 + 27.38sINFOros2_control_node[2026-08-19 12:06:41.529] [info] Accepted new action goal ×2 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696750 ms (missed cycles : 3). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.696750 ms (missed cycles : 3).[0m ×2 + 28.58sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.62sINFOros2_control_node[2026-08-19 12:06:42.770] [info] Received new action goal ×2 + 28.62sINFOros2_control_node[2026-08-19 12:06:42.770] [info] Accepted new action goal ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499038 ms (missed cycles : 4). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.499038 ms (missed cycles : 4).[0m ×2 + 30.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787817 ms (missed cycles : 3). + 30.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787817 ms (missed cycles : 3).[0m ×2 + 31.23sWARNros2_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 + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236232 ms (missed cycles : 2). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236232 ms (missed cycles : 2).[0m ×2 + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631678 ms (missed cycles : 3). + 32.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631678 ms (missed cycles : 3).[0m ×2 + 33.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625693 ms (missed cycles : 3). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625693 ms (missed cycles : 3).[0m ×2 + 33.80sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787141207.95522475 seconds ×3 + 33.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787141208.63790083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159423 ms (missed cycles : 2). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159423 ms (missed cycles : 2).[0m ×2 + 34.67sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 34.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.69sINFOros2_control_node[2026-08-19 12:06:48.842] [info] Received new action goal ×2 + 34.69sINFOros2_control_node[2026-08-19 12:06:48.842] [info] Accepted new action goal ×2 + 35.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814828 ms (missed cycles : 5). + 35.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814828 ms (missed cycles : 5).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480551 ms (missed cycles : 3). + 36.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480551 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 | 89 warnings · 14020 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2310 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2310 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4620 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4620 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121149 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121149 ms (missed cycles : 2).[0m ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 2.86sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791152 ms (missed cycles : 2). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791152 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.97sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787141155.97707987 seconds ×3 + 3.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724595 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724595 ms (missed cycles : 2).[0m ×2 + 4.42sWARNros2_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 + 4.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787141156.63240027 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_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 + 4.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.79sINFOros2_control_node[2026-08-19 12:05:56.796] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-19 12:05:56.796] [info] Accepted new action goal ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969964 ms (missed cycles : 2). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969964 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.10sINFOobjective_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 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534640 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.534640 ms (missed cycles : 3).[0m ×2 + 6.11sINFOobjective_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 + 6.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124954 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124954 ms (missed cycles : 2).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436662 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436662 ms (missed cycles : 2).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398700 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398700 ms (missed cycles : 2).[0m ×2 + 10.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726372 ms (missed cycles : 2). + 10.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726372 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043692 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043692 ms (missed cycles : 2).[0m ×2 + 11.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.661376 ms (missed cycles : 6). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.661376 ms (missed cycles : 6).[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166020 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166020 ms (missed cycles : 2).[0m ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787580 ms (missed cycles : 2). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787580 ms (missed cycles : 2).[0m ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965032 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965032 ms (missed cycles : 3).[0m ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580801 ms (missed cycles : 3). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580801 ms (missed cycles : 3).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182456 ms (missed cycles : 2). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182456 ms (missed cycles : 2).[0m ×2 + 18.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634279 ms (missed cycles : 3). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634279 ms (missed cycles : 3).[0m ×2 + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189446 ms (missed cycles : 2). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189446 ms (missed cycles : 2).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389419 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389419 ms (missed cycles : 2).[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737516 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.737516 ms (missed cycles : 2).[0m ×2 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966716 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966716 ms (missed cycles : 2).[0m ×2 + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756442 ms (missed cycles : 2). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756442 ms (missed cycles : 2).[0m ×2 + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283617 ms (missed cycles : 2). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283617 ms (missed cycles : 2).[0m ×2 + 25.68sWARNros2_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 + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783211 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783211 ms (missed cycles : 2).[0m ×2 + 26.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787141178.12696505 seconds ×3 + 26.77sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787141178.77499557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.95sINFOobjective_server_nodeFound path in 5 iterations (0.00604378 s). ×2 + 27.01sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 27.03sINFOros2_control_node[2026-08-19 12:06:19.031] [info] Received new action goal ×2 + 27.03sINFOros2_control_node[2026-08-19 12:06:19.031] [info] Accepted new action goal ×2 + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490520 ms (missed cycles : 3). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490520 ms (missed cycles : 3).[0m ×2 + 28.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411196 ms (missed cycles : 3). + 28.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411196 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.3s | 3 errors · 71 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.96sWARNros2_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 ×6 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 1.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[0m ×2 + 2.44sINFOobjective_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 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1787140982.80374479 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444409 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444409 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384358 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384358 ms (missed cycles : 3).[0m ×2 + 8.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257310 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257310 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499444 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499444 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364022 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364022 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289504 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289504 ms (missed cycles : 3).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705142 ms (missed cycles : 6). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.705142 ms (missed cycles : 6).[0m ×2 + 13.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.15sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.45sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 13.45sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.46sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 13.48sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 13.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.55sINFOobjective_server_nodeFound path in 1 iterations (0.00312471 s). ×2 + 13.65sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.74sINFOros2_control_node[2026-08-19 12:03:14.083] [info] Received new action goal ×2 + 13.74sINFOros2_control_node[2026-08-19 12:03:14.083] [info] Accepted new action goal ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597674 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597674 ms (missed cycles : 3).[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966804 ms (missed cycles : 3). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966804 ms (missed cycles : 3).[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767207 ms (missed cycles : 5). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767207 ms (missed cycles : 5).[0m ×2 + 16.22sINFOros2_control_node[2026-08-19 12:03:16.556] [info] Received new action goal ×2 + 16.22sINFOros2_control_node[2026-08-19 12:03:16.556] [info] Accepted new action goal ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6).[0m ×2 + 18.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.13sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Received new action goal ×2 + 18.13sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Accepted new action goal ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3).[0m ×2 + 19.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787140999.85471630 seconds ×3 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2).[0m ×2 + 20.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787141000.48608232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787141000.56805205 seconds ×3 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5).[0m ×2 + 20.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787141001.22239184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.99sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 20.99sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.01sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Received new action goal ×2 + 21.01sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Accepted new action goal ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123108 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123108 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.67sINFOobjective_server_nodeFound path in 1 iterations (0.00477653 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.86sINFOros2_control_node[2026-08-19 12:03:50.798] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-08-19 12:03:50.798] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195532 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195532 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_node[2026-08-19 12:03:51.230] [info] Received new action goal ×2 + 1.29sINFOros2_control_node[2026-08-19 12:03:51.230] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971653 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971653 ms (missed cycles : 2).[0m ×2 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729011 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729011 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_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 + 3.46sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.46sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.49sERRORobjective_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: 1787141033.42620325 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268790 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268790 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787141034.22330093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.46sINFOros2_control_node[2026-08-19 12:03:54.397] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-19 12:03:54.397] [info] Accepted new action goal ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207931 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207931 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400843 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400843 ms (missed cycles : 5).[0m ×2 + 6.95sINFOros2_control_node[2026-08-19 12:03:56.890] [info] Received new action goal ×2 + 6.95sINFOros2_control_node[2026-08-19 12:03:56.890] [info] Accepted new action goal ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712708 ms (missed cycles : 5). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712708 ms (missed cycles : 5).[0m ×2 + 8.26sWARNros2_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 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114532 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114532 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953688 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953688 ms (missed cycles : 3).[0m ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628213 ms (missed cycles : 4). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.628213 ms (missed cycles : 4).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812082 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812082 ms (missed cycles : 3).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492711 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492711 ms (missed cycles : 3).[0m ×2 + 13.63sWARNros2_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 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869499 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869499 ms (missed cycles : 2).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006700 ms (missed cycles : 5). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006700 ms (missed cycles : 5).[0m ×2 + 15.52sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787141045.45161676 seconds ×3 + 16.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787141046.13095450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2). + 16.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2).[0m ×2 + 16.23sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.25sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787141046.20124078 seconds ×3 + 16.88sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787141046.81866503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.99sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 16.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.01sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Received new action goal ×2 + 17.01sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Accepted new action goal ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5).[0m ×2 + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 60 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829005 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.829005 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984213 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.984213 ms (missed cycles : 5).[0m ×2 + 1.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.44sINFOobjective_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 + 1.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.44sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.44sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.44sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.44sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.45sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409264 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.409264 ms (missed cycles : 3).[0m ×2 + 2.32sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.33sINFOros2_control_node[2026-08-19 12:04:58.513] [info] Received new action goal ×2 + 2.33sINFOros2_control_node[2026-08-19 12:04:58.513] [info] Accepted new action goal ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940154 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.940154 ms (missed cycles : 2).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787141099.66950750 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284603 ms (missed cycles : 5). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284603 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787141100.60053658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567582 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567582 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.62sINFOobjective_server_nodeFound path in 0 iterations (7.81e-07 s). ×2 + 5.63sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.64sINFOros2_control_node[2026-08-19 12:05:01.825] [info] Received new action goal ×2 + 5.64sINFOros2_control_node[2026-08-19 12:05:01.825] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069659 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069659 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037171 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037171 ms (missed cycles : 4).[0m ×2 + 8.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901560 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901560 ms (missed cycles : 3).[0m ×2 + 9.34sINFOobjective_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 + 9.34sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.34sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.34sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.34sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885079 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885079 ms (missed cycles : 2).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258204 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258204 ms (missed cycles : 2).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 11.73sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 11.74sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.75sINFOros2_control_node[2026-08-19 12:05:07.935] [info] Received new action goal ×2 + 11.75sINFOros2_control_node[2026-08-19 12:05:07.935] [info] Accepted new action goal ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015894 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015894 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703994 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703994 ms (missed cycles : 3).[0m ×2 + 14.08sWARNros2_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 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087540 ms (missed cycles : 4). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087540 ms (missed cycles : 4).[0m ×2 + 15.36sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787141111.54068327 seconds ×3 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185303 ms (missed cycles : 5). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185303 ms (missed cycles : 5).[0m ×2 + 15.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787141112.15554547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.14sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 16.14sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.15sINFOros2_control_node[2026-08-19 12:05:12.329] [info] Received new action goal ×2 + 16.15sINFOros2_control_node[2026-08-19 12:05:12.329] [info] Accepted new action goal ×2 + 16.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798191 ms (missed cycles : 2). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798191 ms (missed cycles : 2).[0m ×2 + 17.41sINFOobjective_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 + 17.42sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251382 ms (missed cycles : 2). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251382 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 170 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032559 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032559 ms (missed cycles : 2).[0m ×2 + 0.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787141019.66692948 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229794 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229794 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289464 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289464 ms (missed cycles : 2).[0m ×2 + 2.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573670 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573670 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787141022.91231990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.75sINFOros2_control_node[2026-08-19 12:03:43.116] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-08-19 12:03:43.116] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124376 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124376 ms (missed cycles : 2).[0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508860 ms (missed cycles : 3). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508860 ms (missed cycles : 3).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254376 ms (missed cycles : 4). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.254376 ms (missed cycles : 4).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101268 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101268 ms (missed cycles : 2).[0m ×2 + 7.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.46sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 7.74sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 7.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (5.96e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 1 iterations (0.00294935 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 1 iterations (0.00434372 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (4.55e-07 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.45sINFOros2_control_node[2026-08-19 12:03:47.819] [info] Received new action goal ×2 + 8.45sINFOros2_control_node[2026-08-19 12:03:47.819] [info] Accepted new action goal ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943703 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943703 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130313 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130313 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123108 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123108 ms (missed cycles : 2).[0m ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.14sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 11.14sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.15sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 11.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.24sINFOobjective_server_nodeFound path in 1 iterations (0.00477653 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.43sINFOros2_control_node[2026-08-19 12:03:50.798] [info] Received new action goal ×2 + 11.43sINFOros2_control_node[2026-08-19 12:03:50.798] [info] Accepted new action goal ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195532 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195532 ms (missed cycles : 2).[0m ×2 + 11.86sINFOros2_control_node[2026-08-19 12:03:51.230] [info] Received new action goal ×2 + 11.86sINFOros2_control_node[2026-08-19 12:03:51.230] [info] Accepted new action goal ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971653 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971653 ms (missed cycles : 2).[0m ×2 + 12.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729011 ms (missed cycles : 2). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729011 ms (missed cycles : 2).[0m ×2 + 14.02sINFOobjective_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 + 14.03sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.03sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.03sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.06sERRORobjective_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: 1787141033.42620325 seconds ×3 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268790 ms (missed cycles : 2). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268790 ms (missed cycles : 2).[0m ×2 + 14.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787141034.22330093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.02sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 15.03sINFOros2_control_node[2026-08-19 12:03:54.397] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-08-19 12:03:54.397] [info] Accepted new action goal ×2 + 15.50sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207931 ms (missed cycles : 4). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207931 ms (missed cycles : 4).[0m ×2 + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400843 ms (missed cycles : 5). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400843 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 58 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141251.29273582 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.43sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6).[0m ×2 + 5.39sWARNros2_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 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709542 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709542 ms (missed cycles : 3).[0m ×2 + 7.74sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.74sINFOros2_control_node[2026-08-19 12:07:36.818] [info] Received new action goal ×2 + 7.74sINFOros2_control_node[2026-08-19 12:07:36.818] [info] Accepted new action goal ×2 + 7.74sINFOros2_control_node[2026-08-19 12:07:36.818] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124024 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124024 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844273 ms (missed cycles : 5). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.844273 ms (missed cycles : 5).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729163 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729163 ms (missed cycles : 3).[0m ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.658992 ms (missed cycles : 6). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.658992 ms (missed cycles : 6).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149889 ms (missed cycles : 5). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149889 ms (missed cycles : 5).[0m ×2 + 13.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4). + 13.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4).[0m ×2 + 14.71sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Got request to cancel active goal. ×2 + 14.71sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Canceling active goal... ×2 + 14.71sERRORobjective_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: 1787141263.78898573 seconds ×3 + 15.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141264.39367700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2).[0m ×2 + 16.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141265.92380691 seconds ×3 + 17.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787141266.52609372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.45sINFOobjective_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 + 17.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787141266.52865005 seconds ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768625 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768625 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833679 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833679 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354481 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354481 ms (missed cycles : 5).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589447 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589447 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787141240.33345723 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×10 + 4.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 4.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 4.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 4.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538186 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538186 ms (missed cycles : 6).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787141240.94239163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (5.97e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.76sINFOros2_control_node[2026-08-19 12:07:21.086] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-08-19 12:07:21.086] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910512 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910512 ms (missed cycles : 3).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221364 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221364 ms (missed cycles : 4).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553788 ms (missed cycles : 6). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.553788 ms (missed cycles : 6).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793907 ms (missed cycles : 5). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793907 ms (missed cycles : 5).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864544 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864544 ms (missed cycles : 4).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425151 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425151 ms (missed cycles : 3).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2).[0m ×2 + 12.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 14.96sINFOobjective_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 + 14.97sERRORobjective_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: 1787141251.29273582 seconds ×3 + 15.62sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.68sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.69sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 16.30sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.32sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 16.32sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 17.03sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 17.18sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 17.18sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 17.19sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 17.19sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 107 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045542 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045542 ms (missed cycles : 4).[0m ×2 + 8.65sWARNros2_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 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017853 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017853 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786953 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786953 ms (missed cycles : 2).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771413 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771413 ms (missed cycles : 2).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734243 ms (missed cycles : 4). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734243 ms (missed cycles : 4).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995135 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995135 ms (missed cycles : 3).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518337 ms (missed cycles : 5). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518337 ms (missed cycles : 5).[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330917 ms (missed cycles : 4). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330917 ms (missed cycles : 4).[0m ×2 + 14.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 14.91sERRORobjective_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: 1787141229.78535914 seconds ×3 + 15.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787141230.41719317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 15.83sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.85sINFOros2_control_node[2026-08-19 12:07:10.723] [info] Received new action goal ×2 + 15.85sINFOros2_control_node[2026-08-19 12:07:10.723] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755105 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755105 ms (missed cycles : 2).[0m ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834883 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834883 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 58 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572090 ms (missed cycles : 6). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572090 ms (missed cycles : 6).[0m ×2 + 8.24sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.25sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122225 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.122225 ms (missed cycles : 4).[0m ×2 + 8.52sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 1 iterations (0.00266129 s). ×2 + 8.76sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 1 iterations (0.00459438 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.04sINFOobjective_server_nodeFound path in 0 iterations (5.12e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.30sINFOros2_control_node[2026-08-19 12:03:36.942] [info] Received new action goal ×2 + 9.30sINFOros2_control_node[2026-08-19 12:03:36.942] [info] Accepted new action goal ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943278 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943278 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544099 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544099 ms (missed cycles : 2).[0m ×2 + 11.73sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032559 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032559 ms (missed cycles : 2).[0m ×2 + 12.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.01sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787141019.66692948 seconds ×3 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229794 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229794 ms (missed cycles : 2).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289464 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.289464 ms (missed cycles : 2).[0m ×2 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573670 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573670 ms (missed cycles : 2).[0m ×2 + 15.27sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787141022.91231990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 15.48sINFOros2_control_node[2026-08-19 12:03:43.116] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-08-19 12:03:43.116] [info] Accepted new action goal ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124376 ms (missed cycles : 2). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124376 ms (missed cycles : 2).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508860 ms (missed cycles : 3). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508860 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 57 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787817 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787817 ms (missed cycles : 3).[0m ×2 + 0.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236232 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236232 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631678 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631678 ms (missed cycles : 3).[0m ×2 + 2.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625693 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625693 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787141207.95522475 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787141208.63790083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159423 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159423 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-19 12:06:48.842] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-19 12:06:48.842] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814828 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814828 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480551 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480551 ms (missed cycles : 3).[0m ×2 + 6.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.490256 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.490256 ms (missed cycles : 4).[0m ×2 + 7.98sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.98sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.99sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 1 iterations (0.00304576 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385865 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385865 ms (missed cycles : 2).[0m ×2 + 8.52sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.56sINFOros2_control_node[2026-08-19 12:06:53.145] [info] Received new action goal ×2 + 8.56sINFOros2_control_node[2026-08-19 12:06:53.145] [info] Accepted new action goal ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419285 ms (missed cycles : 6). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.419285 ms (missed cycles : 6).[0m ×2 + 10.28sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 11.03sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 11.03sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 12.86sWARNros2_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 + 12.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.89sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 12.89sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 14.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.20sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 14.20sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 14.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.05sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 16.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 0.65sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.74sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 1.91sWARNros2_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 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 4.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_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 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 4.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123795 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123795 ms (missed cycles : 3).[0m ×2 + 6.51sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 6.92sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.94sINFOros2_control_node[2026-08-19 12:02:55.291] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-08-19 12:02:55.291] [info] Accepted new action goal ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199162 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.199162 ms (missed cycles : 3).[0m ×2 + 8.00sWARNros2_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 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347629 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.347629 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246239 ms (missed cycles : 5). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.246239 ms (missed cycles : 5).[0m ×2 + 10.61sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 10.63sINFOros2_control_node[2026-08-19 12:02:58.981] [info] Received new action goal ×2 + 10.63sINFOros2_control_node[2026-08-19 12:02:58.981] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140995 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140995 ms (missed cycles : 4).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 13.95sWARNros2_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 + 13.95sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 13.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.97sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 13.97sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[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 + 14.43sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 14.44sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 14.45sERRORobjective_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: 1787140982.80374479 seconds ×3 + 14.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 15.10sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 15.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.03sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 16.03sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.05sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 16.05sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 17.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.7s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787140999.85471630 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787141000.48608232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787141000.56805205 seconds ×3 + 3.17sWARNros2_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 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787141001.22239184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977637 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977637 ms (missed cycles : 2).[0m ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.28sINFOros2_control_node[2026-08-19 12:03:24.706] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-08-19 12:03:24.706] [info] Accepted new action goal ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191310 ms (missed cycles : 5). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.191310 ms (missed cycles : 5).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312169 ms (missed cycles : 5). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312169 ms (missed cycles : 5).[0m ×2 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 9.62sINFOros2_control_node[2026-08-19 12:03:27.044] [info] Received new action goal ×2 + 9.62sINFOros2_control_node[2026-08-19 12:03:27.044] [info] Accepted new action goal ×2 + 9.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 10.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 11.98sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 11.98sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 12.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 12.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 13.85sINFOobjective_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 + 13.86sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 13.86sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 13.88sERRORobjective_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: 1787141011.30597353 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 14.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 14.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.73sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.6s | 59 errors · 39 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4).[0m ×2 + 0.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.10sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Got request to cancel active goal. ×2 + 0.10sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Canceling active goal... ×2 + 0.11sERRORobjective_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: 1787141263.78898573 seconds ×3 + 0.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141264.39367700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2).[0m ×2 + 2.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141265.92380691 seconds ×3 + 2.84sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787141266.52609372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.84sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787141266.52865005 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977480 ms (missed cycles : 3). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977480 ms (missed cycles : 3).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787141267.24948931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787141267.24998665 seconds ×3 + 3.75sWARNros2_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 + 4.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787141267.84749007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576437 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576437 ms (missed cycles : 3).[0m ×2 + 4.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787141268.42763829 seconds ×3 + 4.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895616 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895616 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512535 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512535 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650610 ms (missed cycles : 5). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.650610 ms (missed cycles : 5).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256637 ms (missed cycles : 4). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256637 ms (missed cycles : 4).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338713 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338713 ms (missed cycles : 2).[0m ×2 + 9.84sWARNros2_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 + 10.14sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.14sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.15sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.16sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.17sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORweb_video_auth_proxy-23process has died [pid 9133, 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 + 10.18sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.19sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.19sERRORweb_bridge_auth_proxy-22process has died [pid 9132, 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 + 10.20sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.22sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.23sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.25sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.26sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.27sINFOvideo_server-21process has finished cleanly [pid 9131] ×2 + 10.27sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.28sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.30sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.30sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.31sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.32sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.34sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.35sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.37sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.38sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.40sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.40sINFOcontroller_managerShutdown request received.... + 10.40sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.40sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.40sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.40sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.40sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.40sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.40sINFOvideo_server2026/08/19 12:07:53 INF shutting down gracefully ×2 + 10.40sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.40sINFOvideo_server2026/08/19 12:07:53 INF [WebRTC] closing ×2 + 10.40sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.40sINFOvideo_server2026/08/19 12:07:53 INF [RTSP] closing ×2 + 10.40sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.40sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.40sINFOvideo_server2026/08/19 12:07:53 INF waiting for running hooks ×2 + 10.40sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.40sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.40sINFOcontroller_managerShutting down the controller manager. + 10.40sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.40sERRORmove_group-9process has died [pid 9056, 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_lt8cxzwp --params-file /tmp/launch_params_rukf29w6 --params-file /tmp/launch_params_0fud92fn --params-file /tmp/launch_params_9a9s7ia7 --params-file /tmp/launch_params_zoc335wv --params-file /tmp/launch_params_k182yazy']. ×2 + 10.41sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.41sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.41sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.41sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.41sERRORmove_groupStack trace (most recent call last) in thread 9463: ×2 + 10.41sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.41sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3de7ffb63, in __clone ×2 + 10.41sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3de772b83, in ×2 + 10.41sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb3dea04db3, in ×2 + 10.41sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fb3df175637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.41sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb3ded96620, in rclcpp::Rate::sleep() ×2 + 10.41sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb3decd8d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.41sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb3dec9a087, in ×2 + 10.41sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb3de9d3390, in __cxa_throw ×2 + 10.41sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb3de9bda54, in std::terminate() ×2 + 10.41sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb3de9d30d9, in ×2 + 10.41sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fb3de9bdff4, in ×2 + 10.41sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3de6fe8fe, in abort ×2 + 10.41sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3de71b27d, in raise ×2 + 10.41sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb3de774c0c, in pthread_kill ×2 + 10.41sERRORmove_groupAborted (Signal sent by tkill() 9056 0) ×2 + 10.41sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.41sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.41sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.41sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.41sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.41sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.41sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.41sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.41sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.41sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.41sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 10.61sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.61sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.61sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.19sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.28sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9130] ×2 + 11.29sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.37sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9060] ×2 + 11.38sINFOui_teleop_bridge-18process has finished cleanly [pid 9065] ×2 + 11.39sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9059] ×2 + 11.39sINFOexecute_objective_bridge-17process has finished cleanly [pid 9064] ×2 + 11.40sINFOcomponent_container_mt-16process has finished cleanly [pid 9063] ×2 + 11.43sINFOwaypoint_manager_node-11process has finished cleanly [pid 9058] ×2 + 11.44sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 11.44sINFOparameter_manager_node-10process has finished cleanly [pid 9057] ×2 + 11.50sINFOcomponent_container_mt-15process has finished cleanly [pid 9062] ×2 + 11.56sINFOobjective_server_node[0;m[2026-08-19 12:07:55.240] [moveit_pro_license] [info] ×2 + 11.56sINFOobjective_server_node************************************************* ×4 + 11.56sINFOobjective_server_node* MoveIt Pro License ×2 + 11.56sINFOobjective_server_node* Application has successfully terminated ×2 + 12.05sINFOobjective_server_node_main-14process has finished cleanly [pid 9061] ×2 + 12.05sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.65sINFOweb_bridge-19process has finished cleanly [pid 9066] ×2 + 12.65sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.03sINFOros2_control_node-1process has finished cleanly [pid 9019] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734243 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995135 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995135 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518337 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518337 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330917 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330917 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_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 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141229.78535914 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787141230.41719317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.08sINFOros2_control_node[2026-08-19 12:07:10.723] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-19 12:07:10.723] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755105 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755105 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834883 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834883 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627950 ms (missed cycles : 6). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.627950 ms (missed cycles : 6).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788651 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788651 ms (missed cycles : 3).[0m ×2 + 8.11sINFOros2_control_node[2026-08-19 12:07:14.749] [info] Received new action goal ×2 + 8.11sINFOros2_control_node[2026-08-19 12:07:14.749] [info] Accepted new action goal ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.633342 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.633342 ms (missed cycles : 4).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768625 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768625 ms (missed cycles : 2).[0m ×2 + 9.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833679 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833679 ms (missed cycles : 3).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354481 ms (missed cycles : 5). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354481 ms (missed cycles : 5).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589447 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589447 ms (missed cycles : 3).[0m ×2 + 13.69sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787141240.33345723 seconds ×3 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538186 ms (missed cycles : 6). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538186 ms (missed cycles : 6).[0m ×2 + 14.30sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787141240.94239163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (5.97e-07 s). ×2 + 14.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.44sINFOros2_control_node[2026-08-19 12:07:21.086] [info] Received new action goal ×2 + 14.44sINFOros2_control_node[2026-08-19 12:07:21.086] [info] Accepted new action goal ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910512 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910512 ms (missed cycles : 3).[0m ×2 + 15.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221364 ms (missed cycles : 4). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221364 ms (missed cycles : 4).[0m ×2 + 16.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.7s | 46 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787141046.13095450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2). + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787141046.20124078 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 + 0.69sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787141046.81866503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.81sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787141048.94879603 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113470 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113470 ms (missed cycles : 4).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796059 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796059 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787141050.56101060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727261 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727261 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_node[2026-08-19 12:04:12.170] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242546 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242546 ms (missed cycles : 2).[0m ×2 + 6.83sINFOobjective_server_node[0;93m2026-08-19 12:04:12.955536820 [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 + 6.83sINFOobjective_server_node[0;93m2026-08-19 12:04:12.955572096 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4).[0m ×2 + 8.02sINFOobjective_server_node[2026-08-19 12:04:14.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.54sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669013076 [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 + 8.54sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669043610 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.70sINFOobjective_server_node[2026-08-19 12:04:14.834] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5).[0m ×2 + 8.78sINFOobjective_server_node[0;93m2026-08-19 12:04:14.908856758 [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 + 8.78sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914490912 [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 + 8.78sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914527196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.90sINFOobjective_server_node[2026-08-19 12:04:15.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.50sINFOobjective_server_node[0;93m2026-08-19 12:04:15.629805573 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.54sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666730759 [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 + 9.54sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666773759 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2).[0m ×2 + 11.51sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787141057.63940954 seconds ×3 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3).[0m ×2 + 12.20sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787141058.32929993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 12.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 12.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 12.28sINFOobjective_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 + 12.29sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 12.57sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 12.57sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.62sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Received new action goal ×2 + 12.62sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Accepted new action goal ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492711 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492711 ms (missed cycles : 3).[0m ×2 + 0.56sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869499 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869499 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006700 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006700 ms (missed cycles : 5).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787141045.45161676 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787141046.13095450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2). + 3.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787141046.20124078 seconds ×3 + 3.81sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787141046.81866503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.93sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787141048.94879603 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113470 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113470 ms (missed cycles : 4).[0m ×2 + 7.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796059 ms (missed cycles : 6). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796059 ms (missed cycles : 6).[0m ×2 + 7.55sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787141050.56101060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727261 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727261 ms (missed cycles : 2).[0m ×2 + 9.16sINFOobjective_server_node[2026-08-19 12:04:12.170] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242546 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242546 ms (missed cycles : 2).[0m ×2 + 9.95sINFOobjective_server_node[0;93m2026-08-19 12:04:12.955536820 [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 + 9.95sINFOobjective_server_node[0;93m2026-08-19 12:04:12.955572096 [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 | 2.1s | 3 errors · 31 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.658992 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.658992 ms (missed cycles : 6).[0m ×2 + 0.65sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149889 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149889 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4).[0m ×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 + 3.17sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1787141263.78898573 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141264.39367700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141265.92380691 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787141266.52609372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.91sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787141266.52865005 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977480 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977480 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787141267.24948931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787141267.24998665 seconds ×3 + 6.81sWARNros2_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 + 7.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787141267.84749007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576437 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576437 ms (missed cycles : 3).[0m ×2 + 7.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787141268.42763829 seconds ×3 + 7.85sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 31 warnings · 563 info |
+ 0.00sINFOobjective_server_node[2026-08-19 12:02:44.145] [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 + 0.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.12sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.14sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.14sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.51sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.52sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.69sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.69sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.70sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.70sWARNros2_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 + 0.70sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.70sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.70sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.70sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.70sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.70sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.70sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.70sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.70sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.70sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.70sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.70sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.70sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.70sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.70sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.70sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.70sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.86sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.87sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.97sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.98sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.98sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.99sINFOros2_control_node[2026-08-19 12:02:45.131] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_node[2026-08-19 12:02:45.131] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.01sINFOros2_control_node[2026-08-19 12:02:45.156] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.01sINFOros2_control_node[2026-08-19 12:02:45.156] [info] Controller state will be published at 50 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-19 12:02:45.162] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.04sINFOcomponent_container_mt[2026-08-19 12:02:45.184] [moveit_pro_license] [info] ×2 + 1.04sINFOcomponent_container_mt************************************************* ×4 + 1.04sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.04sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516647 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516647 ms (missed cycles : 2).[0m ×2 + 1.23sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.33sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.33sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.37sINFOros2-6process has finished cleanly [pid 9024] ×2 + 1.41sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.41sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.42sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.42sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.42sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.42sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.43sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.78sINFOros2-5process has finished cleanly [pid 9023] ×2 + 1.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.93sINFOros2_control_node[2026-08-19 12:02:46.071] [info] Controller state will be published at 10 Hz. ×2 + 1.93sINFOros2_control_node[2026-08-19 12:02:46.072] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.22sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.22sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.22sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.22sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.22sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 2.22sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 2.23sINFOros2-7process has finished cleanly [pid 9025] ×2 + 2.27sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.27sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.27sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.27sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.27sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.28sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.59sINFOros2-4process has finished cleanly [pid 9022] ×2 + 2.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 2.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 2.75sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.75sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 2.78sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.81sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.12sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.12sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.12sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.12sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 3.13sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 3.13sINFOros2-8process has finished cleanly [pid 9026] ×2 + 3.14sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.17sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.17sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.17sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.17sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.17sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.17sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 3.18sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.18sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.50sINFOros2-3process has finished cleanly [pid 9021] ×2 + 3.53sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.53sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.53sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.53sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.53sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 3.53sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 3.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.57sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.57sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.58sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.58sINFOforce_torque_sensor_broadcasterconfigure successful + 3.58sINFOros2_control_nodeconfigure successful[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.58sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.59sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.59sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.90sINFOros2-2process has finished cleanly [pid 9020] ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 4.85sWARNros2_control_nodeCamera render tick took 1.92 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 + 4.95sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 7.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 7.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.86sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.86sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 | ||||
| ✓ 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 5.140995 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140995 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.05sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[0m ×2 + 3.51sINFOobjective_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 + 3.52sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 3.53sERRORobjective_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: 1787140982.80374479 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812082 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492711 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492711 ms (missed cycles : 3).[0m ×2 + 1.62sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869499 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869499 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006700 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006700 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787141045.45161676 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787141046.13095450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2). + 4.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2).[0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787141046.20124078 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787141046.81866503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.00sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2).[0m ×2 + 7.00sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787141048.94879603 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_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 + 1.16sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Got request to cancel active goal. ×2 + 1.16sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Canceling active goal... ×2 + 1.16sERRORobjective_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: 1787141263.78898573 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141264.39367700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141265.92380691 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787141266.52609372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.90sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.90sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787141266.52865005 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977480 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977480 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787141267.24948931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787141267.24998665 seconds ×3 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787141267.84749007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576437 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576437 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787141268.42763829 seconds ×3 + 5.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895616 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895616 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512535 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512535 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767207 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767207 ms (missed cycles : 5).[0m ×2 + 0.22sINFOros2_control_node[2026-08-19 12:03:16.556] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-08-19 12:03:16.556] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.13sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787140999.85471630 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787141000.48608232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787141000.56805205 seconds ×3 + 4.26sWARNros2_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 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787141001.22239184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.01sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Accepted new action goal ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4).[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sERRORobjective_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: 1787141251.29273582 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6).[0m ×2 + 6.45sWARNros2_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 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 27 warnings · 421 info |
+ 0.00sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.01sWARNobjective_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 + 0.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.36sINFOros2-5process has finished cleanly [pid 9023] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.48sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.48sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-08-19 12:02:46.071] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-08-19 12:02:46.072] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.81sINFOros2-7process has finished cleanly [pid 9025] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.17sINFOros2-4process has finished cleanly [pid 9022] ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.22sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.29sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.33sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 1.36sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.71sINFOros2-8process has finished cleanly [pid 9026] ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.75sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.75sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.75sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 1.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.08sINFOros2-3process has finished cleanly [pid 9021] ×2 + 2.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 2.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 2.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.16sINFOforce_torque_sensor_broadcasterconfigure successful + 2.16sINFOros2_control_nodeconfigure successful[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 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 + 2.48sINFOros2-2process has finished cleanly [pid 9020] ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 3.43sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 7.08sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 7.20sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 7.20sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.22sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 7.22sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 28 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sERRORobjective_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: 1787141251.29273582 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6).[0m ×2 + 6.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4).[0m ×2 + 1.16sINFOobjective_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 + 1.16sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Got request to cancel active goal. ×2 + 1.16sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Canceling active goal... ×2 + 1.16sERRORobjective_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: 1787141263.78898573 seconds ×3 + 1.17sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141264.39367700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141265.92380691 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787141266.52609372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.90sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.90sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.90sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787141266.52865005 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977480 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977480 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787141267.24948931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787141267.24998665 seconds ×3 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787141267.84749007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576437 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576437 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787141268.42763829 seconds ×3 + 5.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895616 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895616 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_node[2026-08-19 12:04:14.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669013076 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669043610 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sINFOobjective_server_node[2026-08-19 12:04:14.834] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5).[0m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-19 12:04:14.908856758 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914490912 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914527196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.25sINFOobjective_server_node[2026-08-19 12:04:15.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.85sINFOobjective_server_node[0;93m2026-08-19 12:04:15.629805573 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666730759 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666773759 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787141057.63940954 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787141058.32929993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sERRORobjective_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: 1787141251.29273582 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140995 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140995 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.05sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[0m ×2 + 3.51sINFOobjective_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 + 3.52sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 3.53sERRORobjective_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: 1787140982.80374479 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140995 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140995 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.05sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[0m ×2 + 3.51sINFOobjective_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 + 3.52sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 3.52sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 3.53sERRORobjective_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: 1787140982.80374479 seconds ×3 + 3.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787140999.85471630 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787141000.48608232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787141000.56805205 seconds ×3 + 3.17sWARNros2_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 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787141001.22239184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787140999.85471630 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787141000.48608232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787141000.56805205 seconds ×3 + 3.17sWARNros2_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 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787141001.22239184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787140999.85471630 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787141000.48608232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787141000.56805205 seconds ×3 + 3.17sWARNros2_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 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787141001.22239184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787140999.85471630 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787141000.48608232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787141000.56805205 seconds ×3 + 3.17sWARNros2_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 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787141001.22239184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.395663 ms (missed cycles : 6).[0m ×2 + 0.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Received new action goal ×2 + 1.04sINFOros2_control_node[2026-08-19 12:03:18.468] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.194711 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787140999.85471630 seconds ×3 + 2.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938570 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787141000.48608232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787141000.56805205 seconds ×3 + 3.17sWARNros2_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 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077476 ms (missed cycles : 5).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787141001.22239184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-19 12:03:21.346] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526280 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190932 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812082 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492711 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492711 ms (missed cycles : 3).[0m ×2 + 1.62sWARNros2_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 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869499 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869499 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006700 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006700 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787141045.45161676 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787141046.13095450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2). + 4.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2).[0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787141046.20124078 seconds ×3 + 4.87sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787141046.81866503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.00sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787141046.13095450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2). + 0.04sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317829 ms (missed cycles : 2).[0m ×2 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787141046.20124078 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 + 0.69sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787141046.81866503 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.80sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 0.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.81sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-08-19 12:04:06.942] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.557752 ms (missed cycles : 5).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757557 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787141048.94879603 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113470 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113470 ms (missed cycles : 4).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796059 ms (missed cycles : 6). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.796059 ms (missed cycles : 6).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787141050.56101060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727261 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727261 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_node[2026-08-19 12:04:12.170] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242546 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242546 ms (missed cycles : 2).[0m ×2 + 6.83sINFOobjective_server_node[0;93m2026-08-19 12:04:12.955536820 [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 + 6.83sINFOobjective_server_node[0;93m2026-08-19 12:04:12.955572096 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_node[2026-08-19 12:04:14.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669013076 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669043610 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sINFOobjective_server_node[2026-08-19 12:04:14.834] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5).[0m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-19 12:04:14.908856758 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914490912 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914527196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.25sINFOobjective_server_node[2026-08-19 12:04:15.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.85sINFOobjective_server_node[0;93m2026-08-19 12:04:15.629805573 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666730759 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666773759 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787141057.63940954 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787141058.32929993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2).[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 1.813642 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813642 ms (missed cycles : 2).[0m ×2 + 0.10sINFOobjective_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 + 0.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.10sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.10sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.10sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.10sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.19sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.21sINFOros2_control_node[2026-08-19 12:05:07.935] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-19 12:05:07.935] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015894 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015894 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703994 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703994 ms (missed cycles : 3).[0m ×2 + 2.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087540 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087540 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787141111.54068327 seconds ×3 + 3.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185303 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.185303 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787141112.15554547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.61sINFOros2_control_node[2026-08-19 12:05:12.329] [info] Received new action goal ×2 + 4.61sINFOros2_control_node[2026-08-19 12:05:12.329] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798191 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798191 ms (missed cycles : 2).[0m ×2 + 5.87sINFOobjective_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 + 5.88sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.94sINFOobjective_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 + 5.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251382 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251382 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2571 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×417 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×417 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×834 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×834 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966716 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966716 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756442 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756442 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283617 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283617 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783211 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783211 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.97sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787141178.12696505 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787141178.77499557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOobjective_server_nodeFound path in 5 iterations (0.00604378 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.88sINFOros2_control_node[2026-08-19 12:06:19.031] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-19 12:06:19.031] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490520 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490520 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411196 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411196 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2571 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×417 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×417 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×834 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×834 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966716 ms (missed cycles : 2). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966716 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756442 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756442 ms (missed cycles : 2).[0m ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283617 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283617 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783211 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783211 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.97sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.97sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787141178.12696505 seconds ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787141178.77499557 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOobjective_server_nodeFound path in 5 iterations (0.00604378 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.88sINFOros2_control_node[2026-08-19 12:06:19.031] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-08-19 12:06:19.031] [info] Accepted new action goal ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490520 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490520 ms (missed cycles : 3).[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411196 ms (missed cycles : 3). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411196 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787817 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787817 ms (missed cycles : 3).[0m ×2 + 0.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236232 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236232 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631678 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631678 ms (missed cycles : 3).[0m ×2 + 2.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625693 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625693 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787141207.95522475 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787141208.63790083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159423 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159423 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-19 12:06:48.842] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-19 12:06:48.842] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814828 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814828 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480551 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480551 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734243 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995135 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.995135 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518337 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.518337 ms (missed cycles : 5).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330917 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330917 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_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 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141229.78535914 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787141230.41719317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.08sINFOros2_control_node[2026-08-19 12:07:10.723] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-19 12:07:10.723] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755105 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755105 ms (missed cycles : 2).[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834883 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834883 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141251.29273582 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.43sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6).[0m ×2 + 5.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4).[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 1.971469 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141251.29273582 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.43sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6).[0m ×2 + 5.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.658992 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.658992 ms (missed cycles : 6).[0m ×2 + 0.65sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149889 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149889 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4).[0m ×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 + 3.17sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1787141263.78898573 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141264.39367700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141265.92380691 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787141266.52609372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.91sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787141266.52865005 seconds ×3 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.96sWARNros2_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 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 1.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[0m ×2 + 2.44sINFOobjective_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 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1787140982.80374479 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.96sWARNros2_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 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 1.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[0m ×2 + 2.44sINFOobjective_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 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1787140982.80374479 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.96sWARNros2_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 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 1.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[0m ×2 + 2.44sINFOobjective_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 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1787140982.80374479 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071641 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411664 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.96sWARNros2_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 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 1.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.321] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-19 12:03:02.322] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540156 ms (missed cycles : 6).[0m ×2 + 2.44sINFOobjective_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 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Got request to cancel active goal. ×2 + 2.45sINFOros2_control_node[2026-08-19 12:03:02.787] [info] Canceling active goal... ×2 + 2.46sERRORobjective_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: 1787140982.80374479 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787140983.45738363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787140983.56751013 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115664 ms (missed cycles : 4).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787140984.19368410 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (4.24e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-08-19 12:03:04.397] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780190 ms (missed cycles : 2).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066523 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.736288 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092930 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.76sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 1.76sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-08-19 12:03:29.404] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871882 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337226 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_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 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Got request to cancel active goal. ×2 + 3.65sINFOros2_control_node[2026-08-19 12:03:31.292] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1787141011.30597353 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468435 ms (missed cycles : 6).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787141011.95480490 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 12:03:32.158] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810734 ms (missed cycles : 3).[0m ×2 + 5.74sWARNros2_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 1.959630 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959630 ms (missed cycles : 2).[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 2.123108 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123108 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.57sINFOobjective_server_nodeFound path in 0 iterations (1.9e-07 s). ×2 + 0.57sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (1.89e-07 s). ×2 + 0.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.67sINFOobjective_server_nodeFound path in 1 iterations (0.00477653 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.86sINFOros2_control_node[2026-08-19 12:03:50.798] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-08-19 12:03:50.798] [info] Accepted new action goal ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195532 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195532 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2_control_node[2026-08-19 12:03:51.230] [info] Received new action goal ×2 + 1.29sINFOros2_control_node[2026-08-19 12:03:51.230] [info] Accepted new action goal ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971653 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971653 ms (missed cycles : 2).[0m ×2 + 2.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729011 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729011 ms (missed cycles : 2).[0m ×2 + 3.45sINFOobjective_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 + 3.46sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.46sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.46sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.46sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.49sERRORobjective_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: 1787141033.42620325 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268790 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268790 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787141034.22330093 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 4.46sINFOros2_control_node[2026-08-19 12:03:54.397] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-19 12:03:54.397] [info] Accepted new action goal ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207931 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207931 ms (missed cycles : 4).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400843 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.400843 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 5.025313 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_node[2026-08-19 12:04:14.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669013076 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669043610 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sINFOobjective_server_node[2026-08-19 12:04:14.834] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5).[0m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-19 12:04:14.908856758 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914490912 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914527196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.25sINFOobjective_server_node[2026-08-19 12:04:15.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.85sINFOobjective_server_node[0;93m2026-08-19 12:04:15.629805573 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666730759 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666773759 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787141057.63940954 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787141058.32929993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_node[2026-08-19 12:04:14.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669013076 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669043610 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sINFOobjective_server_node[2026-08-19 12:04:14.834] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5).[0m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-19 12:04:14.908856758 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914490912 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914527196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.25sINFOobjective_server_node[2026-08-19 12:04:15.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.85sINFOobjective_server_node[0;93m2026-08-19 12:04:15.629805573 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666730759 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666773759 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787141057.63940954 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787141058.32929993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025313 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_server_node[2026-08-19 12:04:14.149] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669013076 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-19 12:04:14.669043610 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.06sINFOobjective_server_node[2026-08-19 12:04:14.834] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.312217 ms (missed cycles : 5).[0m ×2 + 1.13sINFOobjective_server_node[0;93m2026-08-19 12:04:14.908856758 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914490912 [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 + 1.14sINFOobjective_server_node[0;93m2026-08-19 12:04:14.914527196 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.25sINFOobjective_server_node[2026-08-19 12:04:15.028] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.85sINFOobjective_server_node[0;93m2026-08-19 12:04:15.629805573 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666730759 [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 + 1.89sINFOobjective_server_node[0;93m2026-08-19 12:04:15.666773759 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914272 ms (missed cycles : 5).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085360 ms (missed cycles : 2).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787141057.63940954 seconds ×3 + 3.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976111 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787141058.32929993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_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 + 4.64sINFOobjective_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 + 4.92sINFOobjective_server_nodeFound path in 0 iterations (6.25e-07 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-08-19 12:04:18.747] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.502225 ms (missed cycles : 4).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084272 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787817 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787817 ms (missed cycles : 3).[0m ×2 + 0.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236232 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236232 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631678 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631678 ms (missed cycles : 3).[0m ×2 + 2.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625693 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625693 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787141207.95522475 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787141208.63790083 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159423 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159423 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-19 12:06:48.842] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-19 12:06:48.842] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814828 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814828 ms (missed cycles : 5).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480551 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480551 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039401 ms (missed cycles : 3).[0m ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-08-19 12:06:55.617] [info] Accepted new action goal ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4). + 1.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436572 ms (missed cycles : 4).[0m ×2 + 2.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.850328 ms (missed cycles : 3).[0m ×2 + 2.58sWARNros2_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 + 2.60sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-19 12:06:57.481] [info] Accepted new action goal ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.416229 ms (missed cycles : 6).[0m ×2 + 3.91sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Got request to cancel active goal. ×2 + 3.92sINFOros2_control_node[2026-08-19 12:06:58.788] [info] Canceling active goal... ×2 + 3.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141218.79260564 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356818 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787141219.46482658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-19 12:06:59.638] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697032 ms (missed cycles : 5).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625487 ms (missed cycles : 5).[0m ×2 + 6.68sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768625 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768625 ms (missed cycles : 2).[0m ×2 + 0.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833679 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833679 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354481 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354481 ms (missed cycles : 5).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589447 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589447 ms (missed cycles : 3).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787141240.33345723 seconds ×3 + 4.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.02sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538186 ms (missed cycles : 6). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.538186 ms (missed cycles : 6).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787141240.94239163 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (5.97e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.76sINFOros2_control_node[2026-08-19 12:07:21.086] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-08-19 12:07:21.086] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910512 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910512 ms (missed cycles : 3).[0m ×2 + 6.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221364 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221364 ms (missed cycles : 4).[0m ×2 + 6.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sERRORobjective_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: 1787141251.29273582 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sERRORobjective_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: 1787141251.29273582 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672324 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sERRORobjective_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: 1787141251.29273582 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.98sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 5.49sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×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 1.971469 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971469 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363364 ms (missed cycles : 4).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534308 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787141251.29273582 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787141251.94542837 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.90sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787141252.01554990 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137809 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787141252.62290740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787141252.64623713 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787141253.35413003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525430 ms (missed cycles : 3).[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.43sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-19 12:07:33.507] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.574658 ms (missed cycles : 6).[0m ×2 + 5.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700216 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.658992 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.658992 ms (missed cycles : 6).[0m ×2 + 0.65sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149889 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.149889 ms (missed cycles : 5).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505913 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762903 ms (missed cycles : 4).[0m ×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 + 3.17sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Got request to cancel active goal. ×2 + 3.17sINFOros2_control_node[2026-08-19 12:07:43.784] [info] Canceling active goal... ×2 + 3.17sERRORobjective_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: 1787141263.78898573 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.77sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787141264.39367700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.369695 ms (missed cycles : 6).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786367 ms (missed cycles : 2).[0m ×2 + 5.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787141265.92380691 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787141266.52609372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.91sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.91sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.91sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787141266.52865005 seconds ×3 | ||||
▾
/__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 | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 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 | 40 warnings · 621 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/2026-08-19-12-02-38-653267-c65684c821d9-8971 ×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. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_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. + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150175 ms (missed cycles : 3). + 2.01sINFOros2_control_node-1process started with pid [9019] ×2 + 2.01sINFOmove_group-9process started with pid [9056] ×2 + 2.01sINFOparameter_manager_node-10process started with pid [9057] ×2 + 2.01sINFOwaypoint_manager_node-11process started with pid [9058] ×2 + 2.01sINFOmove_joint_resampler_node-12process started with pid [9059] ×2 + 2.01sINFOmove_end_effector_resampler_node-13process started with pid [9060] ×2 + 2.01sINFOobjective_server_node_main-14process started with pid [9061] ×2 + 2.01sINFOcomponent_container_mt-15process started with pid [9062] ×2 + 2.01sINFOcomponent_container_mt-16process started with pid [9063] ×2 + 2.01sINFOexecute_objective_bridge-17process started with pid [9064] ×2 + 2.01sINFOui_teleop_bridge-18process started with pid [9065] ×2 + 2.01sINFOweb_bridge-19process started with pid [9066] ×2 + 2.01sINFOtf2_web_republisher_node-20process started with pid [9130] ×2 + 2.01sINFOvideo_server-21process started with pid [9131] ×2 + 2.01sINFOweb_bridge_auth_proxy-22process started with pid [9132] ×2 + 2.01sINFOweb_video_auth_proxy-23process started with pid [9133] ×2 + 2.04sINFOros2-2process started with pid [9020] ×2 + 2.04sINFOros2-3process started with pid [9021] ×2 + 2.04sINFOros2-4process started with pid [9022] ×2 + 2.04sINFOros2-5process started with pid [9023] ×2 + 2.04sINFOros2-6process started with pid [9024] ×2 + 2.04sINFOros2-7process started with pid [9025] ×2 + 2.04sINFOros2-8process started with pid [9026] ×2 + 2.06sINFOcontroller_managerReceived robot description from topic. + 2.06sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.08sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.10sWARNros2_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 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150175 ms (missed cycles : 3).[0m ×2 + 2.10sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.29sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.35sINFOvideo_server2026/08/19 12:02:41 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.35sINFOvideo_server2026/08/19 12:02:41 INF configuration loaded from /tmp/moveit-webrtc-gh6h7cm0/mediamtx.yml ×2 + 2.35sINFOvideo_server2026/08/19 12:02:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.35sINFOvideo_server2026/08/19 12:02:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962694 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.962694 ms (missed cycles : 5).[0m ×2 + 3.27sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.27sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.27sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.28sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.30sINFOmove_group[2026-08-19 12:02:42.698] [moveit_pro_license] [info] ×2 + 3.30sINFOmove_group************************************************* ×4 + 3.30sINFOmove_group* MoveIt Pro License ×2 + 3.30sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 3.33sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 3.37sINFOwaypoint_manager_node[2026-08-19 12:02:42.780] [moveit_pro_license] [info] ×2 + 3.37sINFOwaypoint_manager_node************************************************* ×4 + 3.37sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.37sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.80sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.84sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.84sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.86sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.87sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.88sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.89sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.94sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.99sINFOmove_group ×4 + 4.00sINFOmove_group[92mYou can start planning now![0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644401 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644401 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_node[2026-08-19 12:02:44.145] [moveit_pro_license] [info] ×2 + 4.73sINFOobjective_server_node************************************************* ×4 + 4.73sINFOobjective_server_node* MoveIt Pro License ×2 + 4.73sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.86sINFOobjective_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 + 4.86sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.87sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.87sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.87sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.87sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.87sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.87sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.87sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.87sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.25sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.25sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.43sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.43sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.43sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.43sWARNros2_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 + 5.43sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.43sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.43sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.43sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.43sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.43sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.43sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.43sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.43sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.43sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.43sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.43sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.43sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.43sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.43sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.43sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.60sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.60sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.60sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.70sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 5.70sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 5.72sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.72sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.72sINFOros2_control_node[2026-08-19 12:02:45.131] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.72sINFOros2_control_node[2026-08-19 12:02:45.131] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.74sINFOros2_control_node[2026-08-19 12:02:45.156] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.75sINFOros2_control_node[2026-08-19 12:02:45.156] [info] Controller state will be published at 50 Hz. ×2 + 5.75sINFOros2_control_node[2026-08-19 12:02:45.162] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.77sINFOcomponent_container_mt[2026-08-19 12:02:45.184] [moveit_pro_license] [info] ×2 + 5.77sINFOcomponent_container_mt************************************************* ×4 + 5.77sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.77sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516647 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516647 ms (missed cycles : 2).[0m ×2 + 5.96sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 6.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 6.10sINFOros2-6process has finished cleanly [pid 9024] ×2 + 6.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.14sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.15sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.15sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.15sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.15sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.15sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.15sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.16sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.16sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.17sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.51sINFOros2-5process has finished cleanly [pid 9023] ×2 + 6.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 6.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 6.63sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.63sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.66sINFOros2_control_node[2026-08-19 12:02:46.071] [info] Controller state will be published at 10 Hz. ×2 + 6.66sINFOros2_control_node[2026-08-19 12:02:46.072] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.96sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 6.96sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 6.96sINFOros2-7process has finished cleanly [pid 9025] ×2 + 7.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.05sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.33sINFOros2-4process has finished cleanly [pid 9022] ×2 + 7.38sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.38sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.38sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.38sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 7.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 7.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.49sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.49sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.51sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 7.51sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.55sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.86sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.86sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.86sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.86sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.86sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 7.86sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 7.87sINFOros2-8process has finished cleanly [pid 9026] ×2 + 7.87sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.87sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.91sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.91sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.91sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.91sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 7.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 8.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 8.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.24sINFOros2-3process has finished cleanly [pid 9021] ×2 + 8.26sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.26sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.26sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.26sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.26sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 8.26sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 8.31sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.31sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.31sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.31sINFOforce_torque_sensor_broadcasterconfigure successful + 8.31sINFOros2_control_nodeconfigure successful[0m ×2 + 8.32sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.32sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.32sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.63sINFOros2-2process has finished cleanly [pid 9020] ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 9.59sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 10.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 10.85sWARNros2_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 + 11.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 319 info |
+ 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.38sINFOros2-8process has finished cleanly [pid 9026] ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.42sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.42sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 0.43sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.78sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOforce_torque_sensor_broadcasterconfigure successful + 0.83sINFOros2_control_nodeconfigure successful[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 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 + 1.15sINFOros2-2process has finished cleanly [pid 9020] ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 2.10sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 3.37sWARNros2_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 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.89sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 392 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 9025] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 9022] ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.92sINFOros2-8process has finished cleanly [pid 9026] ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.29sINFOros2-3process has finished cleanly [pid 9021] ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.37sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sINFOros2-2process has finished cleanly [pid 9020] ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 2.64sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 6.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_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 + 6.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 28 warnings · 319 info |
+ 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.38sINFOros2-8process has finished cleanly [pid 9026] ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.38sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.42sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.42sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.43sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 0.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 0.43sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.43sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 0.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.78sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.82sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.82sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.83sINFOforce_torque_sensor_broadcasterconfigure successful + 0.83sINFOros2_control_nodeconfigure successful[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.84sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 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 + 1.15sINFOros2-2process has finished cleanly [pid 9020] ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 2.10sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 3.37sWARNros2_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 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_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 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.89sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 392 info |
+ 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.01sWARNobjective_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 + 0.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.36sINFOros2-5process has finished cleanly [pid 9023] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.48sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.48sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-08-19 12:02:46.071] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-08-19 12:02:46.072] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.81sINFOros2-7process has finished cleanly [pid 9025] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.17sINFOros2-4process has finished cleanly [pid 9022] ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.22sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.29sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.33sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 1.36sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.71sINFOros2-8process has finished cleanly [pid 9026] ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.75sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.75sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.75sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 1.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.08sINFOros2-3process has finished cleanly [pid 9021] ×2 + 2.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 2.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 2.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.16sINFOforce_torque_sensor_broadcasterconfigure successful + 2.16sINFOros2_control_nodeconfigure successful[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 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 + 2.48sINFOros2-2process has finished cleanly [pid 9020] ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 3.43sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-19-12-02-38-653267-c65684c821d9-8971 ×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. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_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. + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150175 ms (missed cycles : 3). + 2.01sINFOros2_control_node-1process started with pid [9019] ×2 + 2.01sINFOmove_group-9process started with pid [9056] ×2 + 2.01sINFOparameter_manager_node-10process started with pid [9057] ×2 + 2.01sINFOwaypoint_manager_node-11process started with pid [9058] ×2 + 2.01sINFOmove_joint_resampler_node-12process started with pid [9059] ×2 + 2.01sINFOmove_end_effector_resampler_node-13process started with pid [9060] ×2 + 2.01sINFOobjective_server_node_main-14process started with pid [9061] ×2 + 2.01sINFOcomponent_container_mt-15process started with pid [9062] ×2 + 2.01sINFOcomponent_container_mt-16process started with pid [9063] ×2 + 2.01sINFOexecute_objective_bridge-17process started with pid [9064] ×2 + 2.01sINFOui_teleop_bridge-18process started with pid [9065] ×2 + 2.01sINFOweb_bridge-19process started with pid [9066] ×2 + 2.01sINFOtf2_web_republisher_node-20process started with pid [9130] ×2 + 2.01sINFOvideo_server-21process started with pid [9131] ×2 + 2.01sINFOweb_bridge_auth_proxy-22process started with pid [9132] ×2 + 2.01sINFOweb_video_auth_proxy-23process started with pid [9133] ×2 + 2.04sINFOros2-2process started with pid [9020] ×2 + 2.04sINFOros2-3process started with pid [9021] ×2 + 2.04sINFOros2-4process started with pid [9022] ×2 + 2.04sINFOros2-5process started with pid [9023] ×2 + 2.04sINFOros2-6process started with pid [9024] ×2 + 2.04sINFOros2-7process started with pid [9025] ×2 + 2.04sINFOros2-8process started with pid [9026] ×2 + 2.06sINFOcontroller_managerReceived robot description from topic. + 2.06sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.08sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.10sWARNros2_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 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150175 ms (missed cycles : 3).[0m ×2 + 2.10sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.29sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.35sINFOvideo_server2026/08/19 12:02:41 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.35sINFOvideo_server2026/08/19 12:02:41 INF configuration loaded from /tmp/moveit-webrtc-gh6h7cm0/mediamtx.yml ×2 + 2.35sINFOvideo_server2026/08/19 12:02:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.35sINFOvideo_server2026/08/19 12:02:41 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 | 24 warnings · 392 info |
+ 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.01sWARNobjective_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 + 0.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.36sINFOros2-5process has finished cleanly [pid 9023] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.48sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.48sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-08-19 12:02:46.071] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-08-19 12:02:46.072] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.81sINFOros2-7process has finished cleanly [pid 9025] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.17sINFOros2-4process has finished cleanly [pid 9022] ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.22sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.29sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.33sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 1.36sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.71sINFOros2-8process has finished cleanly [pid 9026] ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.75sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.75sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.75sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 1.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.08sINFOros2-3process has finished cleanly [pid 9021] ×2 + 2.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 2.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 2.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.16sINFOforce_torque_sensor_broadcasterconfigure successful + 2.16sINFOros2_control_nodeconfigure successful[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 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 + 2.48sINFOros2-2process has finished cleanly [pid 9020] ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 3.43sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 392 info |
+ 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.01sWARNobjective_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 + 0.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.36sINFOros2-5process has finished cleanly [pid 9023] ×2 + 0.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.48sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.48sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-08-19 12:02:46.071] [info] Controller state will be published at 10 Hz. ×2 + 0.51sINFOros2_control_node[2026-08-19 12:02:46.072] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.80sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.81sINFOros2-7process has finished cleanly [pid 9025] ×2 + 0.85sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.85sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.85sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.85sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.85sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.86sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.86sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.90sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 0.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.17sINFOros2-4process has finished cleanly [pid 9022] ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.22sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.29sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.33sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 1.36sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.39sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.71sINFOros2-8process has finished cleanly [pid 9026] ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.75sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.75sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.75sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.75sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.75sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 1.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.08sINFOros2-3process has finished cleanly [pid 9021] ×2 + 2.11sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.11sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.11sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.11sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 2.11sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 2.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.16sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.16sINFOforce_torque_sensor_broadcasterconfigure successful + 2.16sINFOros2_control_nodeconfigure successful[0m ×2 + 2.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.17sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.17sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 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 + 2.48sINFOros2-2process has finished cleanly [pid 9020] ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 3.43sWARNros2_control_nodeCamera render tick took 1.92 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 + 3.53sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 4.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 392 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 9025] ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.38sINFOros2-4process has finished cleanly [pid 9022] ×2 + 0.43sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.43sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.43sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 12:02:46.923] [info] Controller state will be published at 20 Hz. ×2 + 0.56sINFOros2_control_node[2026-08-19 12:02:46.924] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.92sINFOros2-8process has finished cleanly [pid 9026] ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.92sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971229 ms (missed cycles : 3).[0m ×2 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787140967.43910456 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787140967.44929147 seconds ×3 + 1.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.29sINFOros2-3process has finished cleanly [pid 9021] ×2 + 1.31sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.31sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.31sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.31sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 1.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 1.36sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.36sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.36sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.36sINFOforce_torque_sensor_broadcasterconfigure successful + 1.36sINFOros2_control_nodeconfigure successful[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.37sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sINFOros2-2process has finished cleanly [pid 9020] ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 2.64sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 3.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.64sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.64sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 6.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.30sINFOobjective_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 + 6.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 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 | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 256 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123795 ms (missed cycles : 3). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123795 ms (missed cycles : 3).[0m ×2 + 7.21sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 248 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 9021] ×2 + 0.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.02sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn + 0.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_533k3pnf --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_lbviuigj --params-file /tmp/launch_params_txtg8mcn [0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.07sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.08sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787140968.03427434 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 9020] ×2 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995885 ms (missed cycles : 3).[0m ×2 + 1.35sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787140969.09447050 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.361124 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787140969.71698332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787140969.77713418 seconds ×3 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787140970.44061351 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787140970.46264124 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528453 ms (missed cycles : 3).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787140971.16439867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787140971.31494212 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902157 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787140971.99028134 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787140972.03039885 seconds ×3 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787140972.64696741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_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 + 5.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546002 ms (missed cycles : 3).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.7211e-05 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-19 12:02:52.783] [info] Accepted new action goal ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.704018 ms (missed cycles : 3).[0m ×2 | ||||