117
Total objective tests
33
Objectives passed
0
Objectives failed
84
Objectives skipped
9.6s
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 | 161 warnings · 21144 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377930 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377930 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-19 13:21:38.185] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-19 13:21:38.185] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015465 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015465 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473968 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473968 ms (missed cycles : 4).[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525424 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525424 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787145701.79077530 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787145702.39188313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.50sINFOros2_control_node[2026-08-19 13:21:42.565] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-19 13:21:42.565] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248746 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248746 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963299 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963299 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_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 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.31sWARNros2_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 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363409 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363409 ms (missed cycles : 4).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.813371 ms (missed cycles : 6). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.813371 ms (missed cycles : 6).[0m ×2 + 7.85sINFOjoint_trajectory_controllerReceived new action goal ×3482 + 7.85sINFOjoint_trajectory_controllerAccepted new action goal ×3482 + 7.85sINFOros2_control_nodeReceived new action goal[0m ×6964 + 7.85sINFOros2_control_nodeAccepted new action goal[0m ×6964 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542518 ms (missed cycles : 5). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.542518 ms (missed cycles : 5).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487020 ms (missed cycles : 4). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.487020 ms (missed cycles : 4).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967135 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967135 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743546 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743546 ms (missed cycles : 2).[0m ×2 + 12.67sWARNros2_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 ×4 + 12.83sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.83sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.83sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.83sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546362 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546362 ms (missed cycles : 2).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463729 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463729 ms (missed cycles : 2).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402492 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402492 ms (missed cycles : 2).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694036 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694036 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.919398 ms (missed cycles : 7). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.919398 ms (missed cycles : 7).[0m ×2 + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425826 ms (missed cycles : 3). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425826 ms (missed cycles : 3).[0m ×2 + 19.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945244 ms (missed cycles : 2). + 19.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945244 ms (missed cycles : 2).[0m ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430634 ms (missed cycles : 2). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430634 ms (missed cycles : 2).[0m ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389149 ms (missed cycles : 3). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389149 ms (missed cycles : 3).[0m ×2 + 22.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709236 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709236 ms (missed cycles : 2).[0m ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794455 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794455 ms (missed cycles : 2).[0m ×2 + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767661 ms (missed cycles : 2). + 24.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767661 ms (missed cycles : 2).[0m ×2 + 25.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×4 + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036267 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036267 ms (missed cycles : 2).[0m ×2 + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814058 ms (missed cycles : 2). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814058 ms (missed cycles : 2).[0m ×2 + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809791 ms (missed cycles : 2). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809791 ms (missed cycles : 2).[0m ×2 + 28.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595341 ms (missed cycles : 3). + 28.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595341 ms (missed cycles : 3).[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671414 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671414 ms (missed cycles : 2).[0m ×2 + 31.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597414 ms (missed cycles : 3). + 31.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597414 ms (missed cycles : 3).[0m ×2 + 32.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158680 ms (missed cycles : 2). + 32.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158680 ms (missed cycles : 2).[0m ×2 + 32.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476174 ms (missed cycles : 5). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.476174 ms (missed cycles : 5).[0m ×2 + 34.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765017 ms (missed cycles : 2). + 34.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765017 ms (missed cycles : 2).[0m ×2 + 35.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093283 ms (missed cycles : 2). + 35.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093283 ms (missed cycles : 2).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316449 ms (missed cycles : 3). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.316449 ms (missed cycles : 3).[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576165 ms (missed cycles : 3). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576165 ms (missed cycles : 3).[0m ×2 + 38.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864071 ms (missed cycles : 2). + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864071 ms (missed cycles : 2).[0m ×2 + 39.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 39.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894888 ms (missed cycles : 2). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894888 ms (missed cycles : 2).[0m ×2 + 40.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.638023 ms (missed cycles : 7). + 40.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.638023 ms (missed cycles : 7).[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166242 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166242 ms (missed cycles : 2).[0m ×2 + 42.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207906 ms (missed cycles : 2). + 42.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207906 ms (missed cycles : 2).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716277 ms (missed cycles : 2). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716277 ms (missed cycles : 2).[0m ×2 + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008188 ms (missed cycles : 2). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008188 ms (missed cycles : 2).[0m ×2 + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899088 ms (missed cycles : 5). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899088 ms (missed cycles : 5).[0m ×2 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836744 ms (missed cycles : 2). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836744 ms (missed cycles : 2).[0m ×2 + 46.95sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736120 ms (missed cycles : 2). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736120 ms (missed cycles : 2).[0m ×2 + 48.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787145746.20242429 seconds ×3 + 48.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787145746.83979869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.92sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 48.93sINFOros2_control_node[2026-08-19 13:22:26.993] [info] Received new action goal ×2 + 48.93sINFOros2_control_node[2026-08-19 13:22:26.993] [info] Accepted new action goal ×2 + 48.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681943 ms (missed cycles : 2). + 48.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681943 ms (missed cycles : 2).[0m ×2 + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332362 ms (missed cycles : 4). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332362 ms (missed cycles : 4).[0m ×2 + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587726 ms (missed cycles : 5). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587726 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.9s | 153 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3).[0m ×2 + 0.05sINFOobjective_server_node[2026-08-19 13:20:45.164] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684801465 [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 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684837468 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-19 13:20:45.852] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.79sINFOobjective_server_node[0;93m2026-08-19 13:20:45.903041802 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908163302 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908191163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-19 13:20:45.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-19 13:20:46.344015396 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366940142 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366970827 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787145648.21365595 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787145648.88900971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.86sINFOobjective_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 + 3.87sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977863 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977863 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 7.07sINFOros2_control_node[2026-08-19 13:20:52.183] [info] Received new action goal ×2 + 7.07sINFOros2_control_node[2026-08-19 13:20:52.183] [info] Accepted new action goal ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162713 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162713 ms (missed cycles : 2).[0m ×2 + 8.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822867 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822867 ms (missed cycles : 3).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883639 ms (missed cycles : 4). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883639 ms (missed cycles : 4).[0m ×2 + 10.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.19sINFOros2_control_node[2026-08-19 13:20:55.303] [info] Received new action goal ×2 + 10.19sINFOros2_control_node[2026-08-19 13:20:55.303] [info] Accepted new action goal ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119747 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119747 ms (missed cycles : 2).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628558 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628558 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177771 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177771 ms (missed cycles : 2).[0m ×2 + 13.16sINFOobjective_server_nodeFound path in 0 iterations (6.74e-07 s). ×2 + 13.17sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.20sINFOros2_control_node[2026-08-19 13:20:58.316] [info] Received new action goal ×2 + 13.20sINFOros2_control_node[2026-08-19 13:20:58.316] [info] Accepted new action goal ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731616 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731616 ms (missed cycles : 3).[0m ×2 + 14.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344589 ms (missed cycles : 3). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344589 ms (missed cycles : 3).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779244 ms (missed cycles : 3). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779244 ms (missed cycles : 3).[0m ×2 + 16.17sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.17sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.17sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.17sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.17sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899476 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899476 ms (missed cycles : 2).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632972 ms (missed cycles : 6). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.632972 ms (missed cycles : 6).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248404 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248404 ms (missed cycles : 2).[0m ×2 + 20.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 20.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209507 ms (missed cycles : 2). + 20.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.209507 ms (missed cycles : 2).[0m ×2 + 21.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932379 ms (missed cycles : 2). + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932379 ms (missed cycles : 2).[0m ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043424 ms (missed cycles : 4). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043424 ms (missed cycles : 4).[0m ×2 + 22.95sINFOobjective_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 + 22.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.95sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.96sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.96sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.96sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022684 ms (missed cycles : 2). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022684 ms (missed cycles : 2).[0m ×2 + 23.84sINFOros2_control_node[2026-08-19 13:21:08.952] [info] Received new action goal ×2 + 23.84sINFOros2_control_node[2026-08-19 13:21:08.952] [info] Accepted new action goal ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953329 ms (missed cycles : 2). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.953329 ms (missed cycles : 2).[0m ×2 + 25.01sINFOobjective_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 + 25.02sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 25.30sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 25.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.35sINFOros2_control_node[2026-08-19 13:21:10.458] [info] Received new action goal ×2 + 25.35sINFOros2_control_node[2026-08-19 13:21:10.458] [info] Accepted new action goal ×2 + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501129 ms (missed cycles : 3). + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501129 ms (missed cycles : 3).[0m ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398353 ms (missed cycles : 3). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398353 ms (missed cycles : 3).[0m ×2 + 27.48sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 27.48sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.49sINFOros2_control_node[2026-08-19 13:21:12.603] [info] Received new action goal ×2 + 27.49sINFOros2_control_node[2026-08-19 13:21:12.603] [info] Accepted new action goal ×2 + 28.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013629 ms (missed cycles : 2). + 28.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013629 ms (missed cycles : 2).[0m ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202713 ms (missed cycles : 5). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202713 ms (missed cycles : 5).[0m ×2 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732592 ms (missed cycles : 2). + 30.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732592 ms (missed cycles : 2).[0m ×2 + 30.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×6 + 30.53sINFOros2_control_node[2026-08-19 13:21:15.643] [info] Received new action goal ×2 + 30.53sINFOros2_control_node[2026-08-19 13:21:15.643] [info] Accepted new action goal ×2 + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804170 ms (missed cycles : 5). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.804170 ms (missed cycles : 5).[0m ×2 + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160469 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160469 ms (missed cycles : 2).[0m ×2 + 33.12sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 33.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.17sINFOros2_control_node[2026-08-19 13:21:18.287] [info] Received new action goal ×2 + 33.18sINFOros2_control_node[2026-08-19 13:21:18.287] [info] Accepted new action goal ×2 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741759 ms (missed cycles : 2). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741759 ms (missed cycles : 2).[0m ×2 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457742 ms (missed cycles : 3). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457742 ms (missed cycles : 3).[0m ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680967 ms (missed cycles : 3). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680967 ms (missed cycles : 3).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765049 ms (missed cycles : 3). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765049 ms (missed cycles : 3).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299475 ms (missed cycles : 5). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.299475 ms (missed cycles : 5).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161806 ms (missed cycles : 5). + 38.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.161806 ms (missed cycles : 5).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101916 ms (missed cycles : 4). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101916 ms (missed cycles : 4).[0m ×2 + 39.90sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868362 ms (missed cycles : 5). + 40.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868362 ms (missed cycles : 5).[0m ×2 + 41.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831016 ms (missed cycles : 4). + 41.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831016 ms (missed cycles : 4).[0m ×2 + 42.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678016 ms (missed cycles : 2). + 42.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678016 ms (missed cycles : 2).[0m ×2 + 43.83sINFOros2_control_node[2026-08-19 13:21:28.945] [info] Received new action goal ×2 + 43.83sINFOros2_control_node[2026-08-19 13:21:28.945] [info] Accepted new action goal ×2 + 44.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779092 ms (missed cycles : 2). + 44.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779092 ms (missed cycles : 2).[0m ×2 + 44.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787145690.09921789 seconds ×3 + 45.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693140 ms (missed cycles : 3). + 45.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693140 ms (missed cycles : 3).[0m ×2 + 45.78sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787145690.89060855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008433 ms (missed cycles : 5). + 46.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008433 ms (missed cycles : 5).[0m ×2 + 46.95sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 46.96sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 46.97sINFOros2_control_node[2026-08-19 13:21:32.085] [info] Received new action goal ×2 + 46.97sINFOros2_control_node[2026-08-19 13:21:32.085] [info] Accepted new action goal ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456030 ms (missed cycles : 5). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456030 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.3s | 112 warnings · 2859 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×441 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×441 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×882 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×882 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439887 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439887 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492948 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492948 ms (missed cycles : 2).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795001 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795001 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374854 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374854 ms (missed cycles : 4).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787145768.32282090 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787145768.96434736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.292332 ms (missed cycles : 7). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.292332 ms (missed cycles : 7).[0m ×2 + 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 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_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 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.00504079 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-19 13:22:49.230] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-19 13:22:49.230] [info] Accepted new action goal ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822274 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822274 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_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 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131224 ms (missed cycles : 5). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131224 ms (missed cycles : 5).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497369 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.497369 ms (missed cycles : 2).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823633 ms (missed cycles : 3). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823633 ms (missed cycles : 3).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216030 ms (missed cycles : 3). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216030 ms (missed cycles : 3).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204509 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204509 ms (missed cycles : 3).[0m ×2 + 12.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×4 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010508 ms (missed cycles : 4). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.010508 ms (missed cycles : 4).[0m ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489680 ms (missed cycles : 3). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489680 ms (missed cycles : 3).[0m ×2 + 13.76sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304705 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.304705 ms (missed cycles : 2).[0m ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793262 ms (missed cycles : 4). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.793262 ms (missed cycles : 4).[0m ×2 + 16.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510999 ms (missed cycles : 2). + 16.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510999 ms (missed cycles : 2).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.066116 ms (missed cycles : 8). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.066116 ms (missed cycles : 8).[0m ×2 + 17.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.03 s); wrist_camera (1.03 s). The render path has stopped producing new frames for them.[0m ×4 + 18.33sINFOobjective_server_nodeFound path in 4 iterations (0.00460184 s). ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598938 ms (missed cycles : 4). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.598938 ms (missed cycles : 4).[0m ×2 + 18.44sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.48sINFOobjective_server_nodeFound path in 13 iterations (0.00806578 s). ×2 + 18.55sINFOobjective_server_nodePath shortcutter: [X_________________________________X__________________________X] ×2 + 18.60sINFOobjective_server_nodeFound path in 2 iterations (0.00528688 s). ×2 + 18.66sINFOobjective_server_nodePath shortcutter: [X_____________________________X___________________X] ×2 + 18.69sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 18.73sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.75sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 18.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.83sINFOobjective_server_nodeFound path in 12 iterations (0.00742436 s). ×2 + 18.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 18.95sINFOobjective_server_nodeFound path in 1 iterations (0.00584056 s). ×2 + 19.02sINFOobjective_server_nodePath shortcutter: [X_______________________________X_____________________X] ×2 + 19.05sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 19.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.13sINFOobjective_server_nodeFound path in 4 iterations (0.00772447 s). ×2 + 19.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.29sINFOobjective_server_nodeFound path in 4 iterations (0.0049191 s). ×2 + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697713 ms (missed cycles : 4). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697713 ms (missed cycles : 4).[0m ×2 + 19.42sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X______________________X] ×2 + 19.45sINFOobjective_server_nodeFound path in 1 iterations (0.00838304 s). ×2 + 19.54sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 19.58sINFOobjective_server_nodeFound path in 1 iterations (0.00426963 s). ×2 + 19.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 19.72sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 19.78sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.81sINFOobjective_server_nodeFound path in 1 iterations (0.00808606 s). ×2 + 19.94sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________X_________X] ×2 + 19.98sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 20.06sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X] ×2 + 20.09sINFOobjective_server_nodeFound path in 0 iterations (2.18e-07 s). ×2 + 20.18sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 20.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 20.39sINFOros2_control_node[2026-08-19 13:23:04.754] [info] Received new action goal ×2 + 20.39sINFOros2_control_node[2026-08-19 13:23:04.754] [info] Accepted new action goal ×2 + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590457 ms (missed cycles : 5). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.590457 ms (missed cycles : 5).[0m ×2 + 21.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.415673 ms (missed cycles : 7). + 21.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.415673 ms (missed cycles : 7).[0m ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036711 ms (missed cycles : 4). + 22.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036711 ms (missed cycles : 4).[0m ×2 + 23.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577790 ms (missed cycles : 5). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.577790 ms (missed cycles : 5).[0m ×2 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904644 ms (missed cycles : 2). + 24.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904644 ms (missed cycles : 2).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755293 ms (missed cycles : 5). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.755293 ms (missed cycles : 5).[0m ×2 + 26.52sINFOros2_control_node[2026-08-19 13:23:10.877] [info] Received new action goal ×2 + 26.52sINFOros2_control_node[2026-08-19 13:23:10.878] [info] Accepted new action goal ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178964 ms (missed cycles : 4). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178964 ms (missed cycles : 4).[0m ×2 + 27.98sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.99sINFOros2_control_node[2026-08-19 13:23:12.347] [info] Received new action goal ×2 + 27.99sINFOros2_control_node[2026-08-19 13:23:12.347] [info] Accepted new action goal ×2 + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824251 ms (missed cycles : 2). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824251 ms (missed cycles : 2).[0m ×2 + 29.04sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.07sINFOros2_control_node[2026-08-19 13:23:13.429] [info] Received new action goal ×2 + 29.07sINFOros2_control_node[2026-08-19 13:23:13.429] [info] Accepted new action goal ×2 + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.490843 ms (missed cycles : 4). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.490843 ms (missed cycles : 4).[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431948 ms (missed cycles : 2). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431948 ms (missed cycles : 2).[0m ×2 + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325719 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325719 ms (missed cycles : 2).[0m ×2 + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824987 ms (missed cycles : 2). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824987 ms (missed cycles : 2).[0m ×2 + 33.29sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787145797.65454674 seconds ×3 + 33.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871230 ms (missed cycles : 2). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871230 ms (missed cycles : 2).[0m ×2 + 33.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787145798.33351469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.19sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 34.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.20sINFOros2_control_node[2026-08-19 13:23:18.557] [info] Received new action goal ×2 + 34.20sINFOros2_control_node[2026-08-19 13:23:18.557] [info] Accepted new action goal ×2 + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299487 ms (missed cycles : 3). + 34.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299487 ms (missed cycles : 3).[0m ×2 + 35.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436128 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436128 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 14926 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2461 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2461 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4922 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4922 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008188 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008188 ms (missed cycles : 2).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899088 ms (missed cycles : 5). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899088 ms (missed cycles : 5).[0m ×2 + 2.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836744 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836744 ms (missed cycles : 2).[0m ×2 + 2.77sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736120 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.736120 ms (missed cycles : 2).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787145746.20242429 seconds ×3 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787145746.83979869 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_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 + 4.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-08-19 13:22:26.993] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-19 13:22:26.993] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681943 ms (missed cycles : 2). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681943 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332362 ms (missed cycles : 4). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.332362 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.05sINFOobjective_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 + 6.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 6.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587726 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.587726 ms (missed cycles : 5).[0m ×2 + 7.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036643 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.036643 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249089 ms (missed cycles : 2). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.249089 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763469 ms (missed cycles : 6). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.763469 ms (missed cycles : 6).[0m ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699109 ms (missed cycles : 2). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699109 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277019 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277019 ms (missed cycles : 2).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134838 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.134838 ms (missed cycles : 2).[0m ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675771 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675771 ms (missed cycles : 2).[0m ×2 + 14.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.42 s); wrist_camera (1.42 s). The render path has stopped producing new frames for them.[0m ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127875 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127875 ms (missed cycles : 2).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136942 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136942 ms (missed cycles : 2).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778171 ms (missed cycles : 2). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778171 ms (missed cycles : 2).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877728 ms (missed cycles : 3). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877728 ms (missed cycles : 3).[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684220 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684220 ms (missed cycles : 2).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624505 ms (missed cycles : 2). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624505 ms (missed cycles : 2).[0m ×2 + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860525 ms (missed cycles : 2). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860525 ms (missed cycles : 2).[0m ×2 + 21.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439887 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439887 ms (missed cycles : 2).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492948 ms (missed cycles : 2). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492948 ms (missed cycles : 2).[0m ×2 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795001 ms (missed cycles : 2). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795001 ms (missed cycles : 2).[0m ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374854 ms (missed cycles : 4). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374854 ms (missed cycles : 4).[0m ×2 + 26.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787145768.32282090 seconds ×3 + 26.72sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787145768.96434736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.292332 ms (missed cycles : 7). + 26.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.292332 ms (missed cycles : 7).[0m ×2 + 26.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.91sINFOobjective_server_nodeFound path in 5 iterations (0.00504079 s). ×2 + 26.97sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.99sINFOros2_control_node[2026-08-19 13:22:49.230] [info] Received new action goal ×2 + 26.99sINFOros2_control_node[2026-08-19 13:22:49.230] [info] Accepted new action goal ×2 + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822274 ms (missed cycles : 2). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822274 ms (missed cycles : 2).[0m ×2 + 28.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131224 ms (missed cycles : 5). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131224 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 17.1s | 3 errors · 76 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 2.64sINFOobjective_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 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1787145573.07798672 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906637 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906637 ms (missed cycles : 2).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096543 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096543 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473807 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473807 ms (missed cycles : 3).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217505 ms (missed cycles : 4). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.217505 ms (missed cycles : 4).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026445 ms (missed cycles : 5). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.026445 ms (missed cycles : 5).[0m ×2 + 11.90sWARNros2_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 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000140 ms (missed cycles : 5). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.000140 ms (missed cycles : 5).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377049 ms (missed cycles : 3). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377049 ms (missed cycles : 3).[0m ×2 + 14.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 14.18sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 14.19sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 14.47sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 14.48sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 14.49sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 14.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 14.57sINFOobjective_server_nodeFound path in 1 iterations (0.00401493 s). ×2 + 14.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 14.74sINFOros2_control_node[2026-08-19 13:19:45.155] [info] Received new action goal ×2 + 14.74sINFOros2_control_node[2026-08-19 13:19:45.155] [info] Accepted new action goal ×2 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.201418 ms (missed cycles : 6). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.201418 ms (missed cycles : 6).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.060069 ms (missed cycles : 8). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.060069 ms (missed cycles : 8).[0m ×2 + 16.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 17.21sINFOros2_control_node[2026-08-19 13:19:47.627] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-08-19 13:19:47.627] [info] Accepted new action goal ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674160 ms (missed cycles : 6). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674160 ms (missed cycles : 6).[0m ×2 + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2).[0m ×2 + 19.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 19.13sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Received new action goal ×2 + 19.13sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Accepted new action goal ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2).[0m ×2 + 20.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787145590.92889237 seconds ×3 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5).[0m ×2 + 21.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787145591.54224706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.21sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787145591.63238811 seconds ×3 + 21.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2). + 21.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2).[0m ×2 + 21.86sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787145592.28014421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.97sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 21.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.98sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Received new action goal ×2 + 21.98sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Accepted new action goal ×2 + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5).[0m ×2 + 22.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ 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 6.394693 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394693 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969799 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969799 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.39sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.46sINFOobjective_server_nodeFound path in 1 iterations (0.00292415 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.64sINFOros2_control_node[2026-08-19 13:20:22.734] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-08-19 13:20:22.734] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531789 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531789 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_node[2026-08-19 13:20:23.166] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-08-19 13:20:23.166] [info] Accepted new action goal ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514079 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514079 ms (missed cycles : 4).[0m ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_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 + 3.57sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.57sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.58sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.58sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.62sERRORobjective_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: 1787145624.71036673 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860873 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860873 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787145625.49139452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.57sINFOros2_control_node[2026-08-19 13:20:25.666] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-19 13:20:25.666] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793431 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793431 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781628 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781628 ms (missed cycles : 2).[0m ×2 + 7.08sINFOros2_control_node[2026-08-19 13:20:28.169] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-08-19 13:20:28.169] [info] Accepted new action goal ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157018 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.157018 ms (missed cycles : 4).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955474 ms (missed cycles : 4). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955474 ms (missed cycles : 4).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614889 ms (missed cycles : 6). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.614889 ms (missed cycles : 6).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221799 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221799 ms (missed cycles : 2).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586785 ms (missed cycles : 6). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586785 ms (missed cycles : 6).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848069 ms (missed cycles : 5). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848069 ms (missed cycles : 5).[0m ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188571 ms (missed cycles : 4). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188571 ms (missed cycles : 4).[0m ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962702 ms (missed cycles : 4). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962702 ms (missed cycles : 4).[0m ×2 + 15.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 15.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787145636.74088168 seconds ×3 + 16.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787145637.41577244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.37sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9).[0m ×2 + 16.39sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787145637.48591375 seconds ×3 + 16.99sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787145638.07916617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.10sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 17.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.11sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Received new action goal ×2 + 17.11sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Accepted new action goal ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3).[0m ×2 + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 59 warnings · 182 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831016 ms (missed cycles : 4). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831016 ms (missed cycles : 4).[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678016 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678016 ms (missed cycles : 2).[0m ×2 + 1.49sINFOobjective_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 + 1.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.49sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.49sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.49sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.49sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.37sINFOros2_control_node[2026-08-19 13:21:28.945] [info] Received new action goal ×2 + 2.37sINFOros2_control_node[2026-08-19 13:21:28.945] [info] Accepted new action goal ×2 + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779092 ms (missed cycles : 2). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779092 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787145690.09921789 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693140 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.693140 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787145690.89060855 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008433 ms (missed cycles : 5). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.008433 ms (missed cycles : 5).[0m ×2 + 5.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 5.50sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.51sINFOros2_control_node[2026-08-19 13:21:32.085] [info] Received new action goal ×2 + 5.51sINFOros2_control_node[2026-08-19 13:21:32.085] [info] Accepted new action goal ×2 + 5.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456030 ms (missed cycles : 5). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456030 ms (missed cycles : 5).[0m ×2 + 7.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907580 ms (missed cycles : 2). + 7.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907580 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860055 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860055 ms (missed cycles : 2).[0m ×2 + 9.21sINFOobjective_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 + 9.21sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.21sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.21sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.21sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487273 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.487273 ms (missed cycles : 5).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380755 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380755 ms (missed cycles : 2).[0m ×2 + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377930 ms (missed cycles : 3). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377930 ms (missed cycles : 3).[0m ×2 + 11.59sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 11.60sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.61sINFOros2_control_node[2026-08-19 13:21:38.185] [info] Received new action goal ×2 + 11.61sINFOros2_control_node[2026-08-19 13:21:38.185] [info] Accepted new action goal ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015465 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015465 ms (missed cycles : 2).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473968 ms (missed cycles : 4). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473968 ms (missed cycles : 4).[0m ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525424 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525424 ms (missed cycles : 3).[0m ×2 + 15.22sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787145701.79077530 seconds ×3 + 15.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787145702.39188313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.98sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 15.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.99sINFOros2_control_node[2026-08-19 13:21:42.565] [info] Received new action goal ×2 + 15.99sINFOros2_control_node[2026-08-19 13:21:42.565] [info] Accepted new action goal ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248746 ms (missed cycles : 4). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248746 ms (missed cycles : 4).[0m ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963299 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963299 ms (missed cycles : 2).[0m ×2 + 17.26sINFOobjective_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 + 17.27sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.80sWARNros2_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 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363409 ms (missed cycles : 4). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363409 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 59 errors · 39 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2).[0m ×2 + 0.79sINFOobjective_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 + 0.80sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Got request to cancel active goal. ×2 + 0.80sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Canceling active goal... ×2 + 0.80sERRORobjective_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: 1787145853.57335424 seconds ×3 + 0.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787145854.16543126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787145854.74554992 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787145855.33893275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.57sINFOobjective_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 + 2.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787145855.34142280 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787145856.06670403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787145856.06720781 seconds ×3 + 3.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787145856.66112947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730915 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730915 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787145857.50183153 seconds ×3 + 4.78sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794310 ms (missed cycles : 5). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794310 ms (missed cycles : 5).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702318 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.702318 ms (missed cycles : 6).[0m ×2 + 6.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236190 ms (missed cycles : 5). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236190 ms (missed cycles : 5).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532736 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532736 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918228 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918228 ms (missed cycles : 3).[0m ×2 + 10.71sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.71sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.72sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.73sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.74sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.74sERRORweb_video_auth_proxy-23process has died [pid 9096, 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 + 10.75sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.75sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.76sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.76sERRORweb_bridge_auth_proxy-22process has died [pid 9095, 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 + 10.77sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.77sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.79sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.80sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.81sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.82sINFOvideo_server-21process has finished cleanly [pid 9094] ×2 + 10.82sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.83sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.85sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.86sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.87sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.88sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.90sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.90sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.91sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.93sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.95sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.95sINFOcontroller_managerShutdown request received.... + 10.95sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.95sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.95sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.95sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.95sINFOvideo_server2026/08/19 13:24:23 INF shutting down gracefully ×2 + 10.95sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.95sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.95sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.95sINFOvideo_server2026/08/19 13:24:23 INF [WebRTC] closing ×2 + 10.95sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.95sINFOvideo_server2026/08/19 13:24:23 INF [RTSP] closing ×2 + 10.95sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.95sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.95sINFOvideo_server2026/08/19 13:24:23 INF waiting for running hooks ×2 + 10.95sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.95sINFOcontroller_managerShutting down the controller manager. + 10.95sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.95sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.95sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.95sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.95sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.95sERRORmove_groupStack trace (most recent call last) in thread 9415: ×2 + 10.95sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.95sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe8b8a8fb63, in __clone ×2 + 10.96sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe8b8a02b83, in ×2 + 10.96sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe8b8c94db3, in ×2 + 10.96sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fe8b9405637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.96sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe8b9026620, in rclcpp::Rate::sleep() ×2 + 10.96sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe8b8f68d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.96sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fe8b8f2a087, in ×2 + 10.96sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe8b8c63390, in __cxa_throw ×2 + 10.96sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe8b8c4da54, in std::terminate() ×2 + 10.96sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe8b8c630d9, in ×2 + 10.96sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fe8b8c4dff4, in ×2 + 10.96sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe8b898e8fe, in abort ×2 + 10.96sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe8b89ab27d, in raise ×2 + 10.96sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fe8b8a04c0c, in pthread_kill ×2 + 10.96sERRORmove_groupAborted (Signal sent by tkill() 9019 0) ×2 + 10.96sERRORmove_group-9process has died [pid 9019, 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_ias70s9z --params-file /tmp/launch_params_5hoppcv0 --params-file /tmp/launch_params_8g8_fxew --params-file /tmp/launch_params_d1z35vbk --params-file /tmp/launch_params_lflevaa5 --params-file /tmp/launch_params_3c7e1l59']. ×2 + 10.96sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.96sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.96sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.96sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.96sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.96sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.96sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.96sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.96sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.96sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.96sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.96sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.96sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.96sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.96sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.96sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.96sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.96sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.96sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.96sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.96sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.16sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.16sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.16sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.84sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9093] ×2 + 11.84sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.92sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9023] ×2 + 11.93sINFOui_teleop_bridge-18process has finished cleanly [pid 9028] ×2 + 11.93sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9022] ×2 + 11.93sINFOexecute_objective_bridge-17process has finished cleanly [pid 9027] ×2 + 11.94sINFOcomponent_container_mt-16process has finished cleanly [pid 9026] ×2 + 11.98sINFOwaypoint_manager_node-11process has finished cleanly [pid 9021] ×2 + 12.00sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.00sINFOparameter_manager_node-10process has finished cleanly [pid 9020] ×2 + 12.14sINFOobjective_server_node[0;m[2026-08-19 13:24:24.910] [moveit_pro_license] [info] ×2 + 12.14sINFOobjective_server_node************************************************* ×4 + 12.14sINFOobjective_server_node* MoveIt Pro License ×2 + 12.14sINFOobjective_server_node* Application has successfully terminated ×2 + 12.25sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.63sINFOobjective_server_node_main-14process has finished cleanly [pid 9024] ×2 + 12.63sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.04sINFOcomponent_container_mt-15process has finished cleanly [pid 9025] ×2 + 13.08sINFOweb_bridge-19process has finished cleanly [pid 9029] ×2 + 13.08sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.58sINFOros2_control_node-1process has finished cleanly [pid 8982] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_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: 1787145841.06301236 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.40sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693427 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693427 ms (missed cycles : 2).[0m ×2 + 7.71sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.71sINFOros2_control_node[2026-08-19 13:24:06.542] [info] Received new action goal ×2 + 7.71sINFOros2_control_node[2026-08-19 13:24:06.542] [info] Accepted new action goal ×2 + 7.72sINFOros2_control_node[2026-08-19 13:24:06.542] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683652 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683652 ms (missed cycles : 3).[0m ×2 + 8.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170901 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170901 ms (missed cycles : 2).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650495 ms (missed cycles : 6). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650495 ms (missed cycles : 6).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757150 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757150 ms (missed cycles : 2).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2).[0m ×2 + 14.74sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Got request to cancel active goal. ×2 + 14.74sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Canceling active goal... ×2 + 14.74sERRORobjective_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: 1787145853.57335424 seconds ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3).[0m ×2 + 15.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787145854.16543126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.49sWARNros2_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 + 15.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787145854.74554992 seconds ×3 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5).[0m ×2 + 16.51sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787145855.33893275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.51sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.51sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.51sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.51sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787145855.34142280 seconds ×3 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3).[0m ×2 + 17.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787145856.06670403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787145856.06720781 seconds ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858085 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858085 ms (missed cycles : 3).[0m ×2 + 0.64sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.91sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.91sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.92sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787145611.41757441 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713940 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713940 ms (missed cycles : 2).[0m ×2 + 1.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048174 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048174 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887889 ms (missed cycles : 6). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887889 ms (missed cycles : 6).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.83sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787145614.30635047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.02sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 4.02sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.04sINFOros2_control_node[2026-08-19 13:20:14.510] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-08-19 13:20:14.510] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190995 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190995 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253827 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253827 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327700 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327700 ms (missed cycles : 2).[0m ×2 + 7.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446179 ms (missed cycles : 3). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446179 ms (missed cycles : 3).[0m ×2 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758146 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758146 ms (missed cycles : 2).[0m ×2 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.62sINFOobjective_server_nodeFound path in 0 iterations (6.57e-07 s). ×2 + 8.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.67sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 1 iterations (0.00239615 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 1 iterations (0.00390346 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.96sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 9.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.30sINFOros2_control_node[2026-08-19 13:20:19.773] [info] Received new action goal ×2 + 9.30sINFOros2_control_node[2026-08-19 13:20:19.773] [info] Accepted new action goal ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365719 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365719 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394693 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394693 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969799 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969799 ms (missed cycles : 3).[0m ×2 + 11.99sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.99sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 11.99sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.00sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 12.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.08sINFOobjective_server_nodeFound path in 1 iterations (0.00292415 s). ×2 + 12.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.26sINFOros2_control_node[2026-08-19 13:20:22.734] [info] Received new action goal ×2 + 12.26sINFOros2_control_node[2026-08-19 13:20:22.734] [info] Accepted new action goal ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531789 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531789 ms (missed cycles : 3).[0m ×2 + 12.69sINFOros2_control_node[2026-08-19 13:20:23.166] [info] Received new action goal ×2 + 12.69sINFOros2_control_node[2026-08-19 13:20:23.166] [info] Accepted new action goal ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514079 ms (missed cycles : 4). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514079 ms (missed cycles : 4).[0m ×2 + 13.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 14.18sINFOobjective_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 + 14.19sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.19sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.19sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.19sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.23sERRORobjective_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: 1787145624.71036673 seconds ×3 + 14.54sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860873 ms (missed cycles : 3). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860873 ms (missed cycles : 3).[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787145625.49139452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 15.19sINFOros2_control_node[2026-08-19 13:20:25.666] [info] Received new action goal ×2 + 15.19sINFOros2_control_node[2026-08-19 13:20:25.666] [info] Accepted new action goal ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793431 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793431 ms (missed cycles : 2).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781628 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781628 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 54 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787145590.92889237 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787145591.54224706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787145591.63238811 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787145592.28014421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097853 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.097853 ms (missed cycles : 5).[0m ×2 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.84sINFOros2_control_node[2026-08-19 13:19:55.744] [info] Received new action goal ×2 + 6.84sINFOros2_control_node[2026-08-19 13:19:55.744] [info] Accepted new action goal ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111738 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111738 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074925 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074925 ms (missed cycles : 2).[0m ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 9.18sINFOros2_control_node[2026-08-19 13:19:58.082] [info] Received new action goal ×2 + 9.18sINFOros2_control_node[2026-08-19 13:19:58.082] [info] Accepted new action goal ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 10.48sWARNros2_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 + 11.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 11.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 11.52sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 11.53sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 11.53sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 13.76sINFOobjective_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 + 13.77sERRORobjective_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: 1787145602.67030931 seconds ×3 + 14.41sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 14.60sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 14.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.61sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 14.61sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 16.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112418 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703064 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703064 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837548 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837548 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787145830.09047604 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358273 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358273 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.73sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787145830.70275712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-08-19 13:23:50.857] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-19 13:23:50.857] [info] Accepted new action goal ×2 + 4.32sWARNros2_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 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187158 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187158 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414987 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414987 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723455 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723455 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676466 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.676466 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436671 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436671 ms (missed cycles : 3).[0m ×2 + 9.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649910 ms (missed cycles : 3). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649910 ms (missed cycles : 3).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4).[0m ×2 + 14.08sINFOobjective_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 + 14.09sERRORobjective_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: 1787145841.06301236 seconds ×3 + 14.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.79sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.80sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 15.39sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.41sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.41sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 15.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 16.13sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.23sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 16.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.25sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 16.25sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 54 warnings · 107 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×6 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602632 ms (missed cycles : 4). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602632 ms (missed cycles : 4).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196403 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196403 ms (missed cycles : 2).[0m ×2 + 9.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978524 ms (missed cycles : 2). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978524 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817662 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817662 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019869 ms (missed cycles : 5). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019869 ms (missed cycles : 5).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829952 ms (missed cycles : 5). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829952 ms (missed cycles : 5).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475931 ms (missed cycles : 2). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475931 ms (missed cycles : 2).[0m ×2 + 14.55sERRORobjective_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: 1787145819.57101417 seconds ×3 + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745009 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745009 ms (missed cycles : 2).[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787145820.18803453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.45sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 15.46sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.48sINFOros2_control_node[2026-08-19 13:23:40.492] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-08-19 13:23:40.492] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512588 ms (missed cycles : 3). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512588 ms (missed cycles : 3).[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636248 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636248 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 149 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631251 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631251 ms (missed cycles : 2).[0m ×2 + 8.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.82sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.82sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 1 iterations (0.00250242 s). ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.852454 ms (missed cycles : 8). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.852454 ms (missed cycles : 8).[0m ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.36sINFOobjective_server_nodeFound path in 1 iterations (0.00395903 s). ×2 + 9.46sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (4.13e-07 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.83sINFOros2_control_node[2026-08-19 13:20:08.702] [info] Received new action goal ×2 + 9.83sINFOros2_control_node[2026-08-19 13:20:08.702] [info] Accepted new action goal ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426364 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426364 ms (missed cycles : 3).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858085 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858085 ms (missed cycles : 3).[0m ×2 + 12.24sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.52sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.52sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.52sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787145611.41757441 seconds ×3 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713940 ms (missed cycles : 2). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713940 ms (missed cycles : 2).[0m ×2 + 12.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048174 ms (missed cycles : 4). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048174 ms (missed cycles : 4).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887889 ms (missed cycles : 6). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.887889 ms (missed cycles : 6).[0m ×2 + 15.43sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787145614.30635047 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 15.64sINFOros2_control_node[2026-08-19 13:20:14.510] [info] Received new action goal ×2 + 15.64sINFOros2_control_node[2026-08-19 13:20:14.510] [info] Accepted new action goal ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190995 ms (missed cycles : 4). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190995 ms (missed cycles : 4).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253827 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253827 ms (missed cycles : 2).[0m ×2 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327700 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327700 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 54 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431948 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431948 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325719 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325719 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 1.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824987 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824987 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787145797.65454674 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871230 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871230 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787145798.33351469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-19 13:23:18.557] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-19 13:23:18.557] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299487 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299487 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436128 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436128 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087043 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087043 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167197 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167197 ms (missed cycles : 2).[0m ×2 + 7.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 7.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.68sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 1 iterations (0.00288102 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.17sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.18sINFOros2_control_node[2026-08-19 13:23:23.100] [info] Received new action goal ×2 + 8.18sINFOros2_control_node[2026-08-19 13:23:23.100] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244411 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244411 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284654 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284654 ms (missed cycles : 2).[0m ×2 + 10.10sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.66sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 10.66sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 12.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.52sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 12.52sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 13.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 13.64sINFOobjective_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 + 13.65sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 13.65sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 13.66sERRORobjective_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: 1787145808.57817125 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 14.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.51sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 14.51sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 16.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.29sWARNros2_control_nodeCamera render tick took 1.82 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 + 0.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 0.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 1.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_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 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.24sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 + 6.33sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924325 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924325 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.73sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.75sINFOros2_control_node[2026-08-19 13:19:25.436] [info] Received new action goal ×2 + 6.75sINFOros2_control_node[2026-08-19 13:19:25.436] [info] Accepted new action goal ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370126 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.370126 ms (missed cycles : 2).[0m ×2 + 7.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744622 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744622 ms (missed cycles : 2).[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248538 ms (missed cycles : 5). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.248538 ms (missed cycles : 5).[0m ×2 + 10.47sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 10.49sINFOros2_control_node[2026-08-19 13:19:29.176] [info] Received new action goal ×2 + 10.49sINFOros2_control_node[2026-08-19 13:19:29.176] [info] Accepted new action goal ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923854 ms (missed cycles : 5). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923854 ms (missed cycles : 5).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 13.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 13.81sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 13.82sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.83sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 13.83sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 14.38sINFOobjective_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 + 14.38sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 14.38sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 14.39sERRORobjective_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: 1787145573.07798672 seconds ×3 + 14.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 15.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 15.95sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 15.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.96sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 15.96sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×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 7.019869 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019869 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829952 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829952 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475931 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475931 ms (missed cycles : 2).[0m ×2 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_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 + 3.09sERRORobjective_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: 1787145819.57101417 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745009 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745009 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787145820.18803453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.01sINFOros2_control_node[2026-08-19 13:23:40.492] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-19 13:23:40.492] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512588 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512588 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636248 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636248 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188749 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188749 ms (missed cycles : 4).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234737 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234737 ms (missed cycles : 5).[0m ×2 + 8.02sINFOros2_control_node[2026-08-19 13:23:44.505] [info] Received new action goal ×2 + 8.02sINFOros2_control_node[2026-08-19 13:23:44.505] [info] Accepted new action goal ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299186 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.299186 ms (missed cycles : 2).[0m ×2 + 8.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218980 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218980 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112418 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112418 ms (missed cycles : 2).[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703064 ms (missed cycles : 6). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703064 ms (missed cycles : 6).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837548 ms (missed cycles : 5). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837548 ms (missed cycles : 5).[0m ×2 + 13.61sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787145830.09047604 seconds ×3 + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358273 ms (missed cycles : 3). + 13.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358273 ms (missed cycles : 3).[0m ×2 + 14.22sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787145830.70275712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.36sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 14.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.37sINFOros2_control_node[2026-08-19 13:23:50.857] [info] Received new action goal ×2 + 14.38sINFOros2_control_node[2026-08-19 13:23:50.857] [info] Accepted new action goal ×2 + 14.81sWARNros2_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 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187158 ms (missed cycles : 4). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187158 ms (missed cycles : 4).[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414987 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414987 ms (missed cycles : 2).[0m ×2 + 16.28sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.0s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787145637.41577244 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 + 0.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.05sINFOros2_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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9).[0m ×2 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787145637.48591375 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787145638.07916617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787145640.20929885 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174249 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174249 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787145641.80279040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068784 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068784 ms (missed cycles : 2).[0m ×2 + 5.14sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238394 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238394 ms (missed cycles : 4).[0m ×2 + 5.91sINFOobjective_server_node[2026-08-19 13:20:43.320] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573835 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573835 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_node[0;93m2026-08-19 13:20:44.142556699 [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 + 6.73sINFOobjective_server_node[0;93m2026-08-19 13:20:44.142588065 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3).[0m ×2 + 7.75sINFOobjective_server_node[2026-08-19 13:20:45.164] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.27sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684801465 [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 + 8.27sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684837468 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.44sINFOobjective_server_node[2026-08-19 13:20:45.852] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.49sINFOobjective_server_node[0;93m2026-08-19 13:20:45.903041802 [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 + 8.49sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908163302 [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 + 8.49sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908191163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.55sINFOobjective_server_node[2026-08-19 13:20:45.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2).[0m ×2 + 8.93sINFOobjective_server_node[0;93m2026-08-19 13:20:46.344015396 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.95sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366940142 [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 + 8.95sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366970827 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4).[0m ×2 + 10.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787145648.21365595 seconds ×3 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5).[0m ×2 + 11.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.47sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787145648.88900971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 11.56sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 11.86sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.91sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Received new action goal ×2 + 11.91sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Accepted new action goal ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848069 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848069 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188571 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188571 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962702 ms (missed cycles : 4). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962702 ms (missed cycles : 4).[0m ×2 + 2.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787145636.74088168 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.35sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787145637.41577244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787145637.48591375 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787145638.07916617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787145640.20929885 seconds ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174249 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174249 ms (missed cycles : 4).[0m ×2 + 7.74sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787145641.80279040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068784 ms (missed cycles : 2). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068784 ms (missed cycles : 2).[0m ×2 + 8.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238394 ms (missed cycles : 4). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238394 ms (missed cycles : 4).[0m ×2 + 9.26sINFOobjective_server_node[2026-08-19 13:20:43.320] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573835 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573835 ms (missed cycles : 2).[0m ×2 + 10.08sINFOobjective_server_node[0;93m2026-08-19 13:20:44.142556699 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.08sINFOobjective_server_node[0;93m2026-08-19 13:20:44.142588065 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 31 warnings · 563 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.13sINFOobjective_server_node[2026-08-19 13:19:14.436] [moveit_pro_license] [info] ×2 + 0.13sINFOobjective_server_node************************************************* ×4 + 0.13sINFOobjective_server_node* MoveIt Pro License ×2 + 0.13sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.24sINFOobjective_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 + 0.24sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.26sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.56sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.56sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.61sINFOcomponent_container_mt[2026-08-19 13:19:14.911] [moveit_pro_license] [info] ×2 + 0.61sINFOcomponent_container_mt************************************************* ×4 + 0.61sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.61sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.68sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.68sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.68sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.68sWARNros2_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 + 0.68sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.69sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.69sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.69sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.69sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.69sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.69sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.69sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.69sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.69sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.69sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.69sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.69sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.69sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.69sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.69sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.69sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.69sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.69sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.78sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.78sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.78sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.88sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.88sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.91sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.93sINFOros2_control_node[2026-08-19 13:19:15.233] [info] Controller state will be published at 10 Hz. ×2 + 0.93sINFOros2_control_node[2026-08-19 13:19:15.234] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.21sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.21sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.27sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.28sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.33sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.33sINFOros2_control_node[2026-08-19 13:19:15.635] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.33sINFOros2_control_node[2026-08-19 13:19:15.635] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.35sINFOros2_control_node[2026-08-19 13:19:15.658] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.35sINFOros2_control_node[2026-08-19 13:19:15.658] [info] Controller state will be published at 50 Hz. ×2 + 1.36sINFOros2_control_node[2026-08-19 13:19:15.663] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5).[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.69sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.69sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.69sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.69sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.73sINFOros2-6process has finished cleanly [pid 8987] ×2 + 1.75sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.75sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.75sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.75sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.76sINFOforce_torque_sensor_broadcasterconfigure successful + 1.76sINFOros2_control_nodeconfigure successful[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.76sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.77sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.77sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.08sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.08sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.08sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.08sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.08sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 2.08sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 2.09sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.09sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.10sINFOros2-2process has finished cleanly [pid 8983] ×2 + 2.14sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.14sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.14sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.14sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.14sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.14sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 2.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.16sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.16sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.41sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 2.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 2.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 2.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.49sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.52sINFOros2-3process has finished cleanly [pid 8984] ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.83sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.83sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.83sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 2.83sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 2.84sINFOros2-4process has finished cleanly [pid 8985] ×2 + 2.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.90sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.90sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.90sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.90sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.90sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.90sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.91sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.91sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.24sINFOros2-5process has finished cleanly [pid 8986] ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.25sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.25sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.25sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 3.32sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 3.32sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 3.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.37sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.37sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.40sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 3.40sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.73sINFOros2-8process has finished cleanly [pid 8989] ×2 + 3.92sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_control_nodeCamera render tick took 1.82 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 + 4.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 5.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 6.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 7.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 7.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650495 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650495 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757150 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757150 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_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 + 4.04sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Got request to cancel active goal. ×2 + 4.04sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Canceling active goal... ×2 + 4.04sERRORobjective_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: 1787145853.57335424 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 4.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787145854.16543126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787145854.74554992 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787145855.33893275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.81sINFOobjective_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 + 5.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787145855.34142280 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787145856.06670403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787145856.06720781 seconds ×3 + 7.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787145856.66112947 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 1.730915 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730915 ms (missed cycles : 2).[0m ×2 + 7.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787145857.50183153 seconds ×3 + 8.01sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923854 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923854 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.17sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 3.71sINFOobjective_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 + 3.71sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 3.71sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 3.73sERRORobjective_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: 1787145573.07798672 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.29sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3).[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 9.586785 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586785 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848069 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848069 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188571 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188571 ms (missed cycles : 4).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962702 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962702 ms (missed cycles : 4).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787145636.74088168 seconds ×3 + 3.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.79sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787145637.41577244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787145637.48591375 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787145638.07916617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.17sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3).[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787145640.20929885 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_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 + 1.83sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Got request to cancel active goal. ×2 + 1.83sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Canceling active goal... ×2 + 1.83sERRORobjective_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: 1787145853.57335424 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787145854.16543126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787145854.74554992 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787145855.33893275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.60sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.60sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787145855.34142280 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787145856.06670403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787145856.06720781 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787145856.66112947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730915 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730915 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787145857.50183153 seconds ×3 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794310 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794310 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 87 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 0.29sINFOros2_control_node[2026-08-19 13:19:47.627] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-19 13:19:47.627] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674160 ms (missed cycles : 6). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.674160 ms (missed cycles : 6).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2).[0m ×2 + 1.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.19sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.21sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Received new action goal ×2 + 2.21sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Accepted new action goal ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787145590.92889237 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787145591.54224706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787145591.63238811 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787145592.28014421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 5.05sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.06sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Received new action goal ×2 + 5.06sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Accepted new action goal ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5).[0m ×2 + 6.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 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 + 3.27sERRORobjective_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: 1787145841.06301236 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 30 warnings · 433 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.13sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.15sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.15sINFOforce_torque_sensor_broadcasterconfigure successful + 0.15sINFOros2_control_nodeconfigure successful[0m ×2 + 0.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.16sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.16sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 8983] ×2 + 0.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.55sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sWARNobjective_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 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.88sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOros2-3process has finished cleanly [pid 8984] ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.23sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.23sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.23sINFOros2-4process has finished cleanly [pid 8985] ×2 + 1.29sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.30sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.30sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.31sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.31sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.63sINFOros2-5process has finished cleanly [pid 8986] ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.76sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.76sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.79sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.13sINFOros2-8process has finished cleanly [pid 8989] ×2 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 3.07sWARNros2_control_nodeCamera render tick took 1.82 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 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOobjective_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 + 6.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.02sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 7.02sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 26 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 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 + 3.27sERRORobjective_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: 1787145841.06301236 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 24 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_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 + 1.83sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Got request to cancel active goal. ×2 + 1.83sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Canceling active goal... ×2 + 1.83sERRORobjective_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: 1787145853.57335424 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787145854.16543126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787145854.74554992 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787145855.33893275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.60sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.60sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787145855.34142280 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787145856.06670403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787145856.06720781 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787145856.66112947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730915 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730915 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787145857.50183153 seconds ×3 + 5.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.794310 ms (missed cycles : 5). | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3).[0m ×2 + 0.05sINFOobjective_server_node[2026-08-19 13:20:45.164] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684801465 [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 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684837468 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-19 13:20:45.852] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.79sINFOobjective_server_node[0;93m2026-08-19 13:20:45.903041802 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908163302 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908191163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-19 13:20:45.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-19 13:20:46.344015396 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366940142 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366970827 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787145648.21365595 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787145648.88900971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 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 + 3.27sERRORobjective_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: 1787145841.06301236 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6).[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 6.923854 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923854 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.17sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 3.71sINFOobjective_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 + 3.71sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 3.71sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 3.73sERRORobjective_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: 1787145573.07798672 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.29sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_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 7.793527 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 2.64sINFOobjective_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 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1787145573.07798672 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3).[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 2.583443 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787145590.92889237 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787145591.54224706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787145591.63238811 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787145592.28014421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394693 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.394693 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969799 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969799 ms (missed cycles : 3).[0m ×2 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 1.37sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.38sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.39sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.44sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.46sINFOobjective_server_nodeFound path in 1 iterations (0.00292415 s). ×2 + 1.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.64sINFOros2_control_node[2026-08-19 13:20:22.734] [info] Received new action goal ×2 + 1.64sINFOros2_control_node[2026-08-19 13:20:22.734] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531789 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531789 ms (missed cycles : 3).[0m ×2 + 2.07sINFOros2_control_node[2026-08-19 13:20:23.166] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-08-19 13:20:23.166] [info] Accepted new action goal ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514079 ms (missed cycles : 4). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.514079 ms (missed cycles : 4).[0m ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.57sINFOobjective_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 + 3.57sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.57sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.58sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.58sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.62sERRORobjective_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: 1787145624.71036673 seconds ×3 + 3.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860873 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860873 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787145625.49139452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.57sINFOros2_control_node[2026-08-19 13:20:25.666] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-19 13:20:25.666] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793431 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793431 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781628 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781628 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3).[0m ×2 + 0.05sINFOobjective_server_node[2026-08-19 13:20:45.164] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684801465 [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 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684837468 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-19 13:20:45.852] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.79sINFOobjective_server_node[0;93m2026-08-19 13:20:45.903041802 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908163302 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908191163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-19 13:20:45.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-19 13:20:46.344015396 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366940142 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366970827 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787145648.21365595 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787145648.88900971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377930 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.377930 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-19 13:21:38.185] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-19 13:21:38.185] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015465 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015465 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473968 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473968 ms (missed cycles : 4).[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525424 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525424 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787145701.79077530 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787145702.39188313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.50sINFOros2_control_node[2026-08-19 13:21:42.565] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-19 13:21:42.565] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248746 ms (missed cycles : 4). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248746 ms (missed cycles : 4).[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963299 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963299 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_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 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sWARNros2_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 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363409 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.363409 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_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 7.019869 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.019869 ms (missed cycles : 5).[0m ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829952 ms (missed cycles : 5). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829952 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475931 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475931 ms (missed cycles : 2).[0m ×2 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.08sINFOobjective_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 + 3.09sERRORobjective_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: 1787145819.57101417 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745009 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745009 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787145820.18803453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.01sINFOros2_control_node[2026-08-19 13:23:40.492] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-19 13:23:40.492] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512588 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512588 ms (missed cycles : 3).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636248 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636248 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 6.880895 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_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: 1787145841.06301236 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_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 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.40sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3).[0m ×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 6.923854 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.923854 ms (missed cycles : 5).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.17sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 3.71sINFOobjective_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 + 3.71sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 3.71sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 3.73sERRORobjective_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: 1787145573.07798672 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.29sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 2.64sINFOobjective_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 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1787145573.07798672 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 2.64sINFOobjective_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 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1787145573.07798672 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.793527 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010899 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 1.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067644 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Received new action goal ×2 + 2.10sINFOros2_control_node[2026-08-19 13:19:32.516] [info] Accepted new action goal ×2 + 2.64sINFOobjective_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 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Got request to cancel active goal. ×2 + 2.64sINFOros2_control_node[2026-08-19 13:19:33.062] [info] Canceling active goal... ×2 + 2.66sERRORobjective_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: 1787145573.07798672 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091643 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787145573.71552539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787145573.82572556 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787145574.44851232 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922429 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Received new action goal ×2 + 4.22sINFOros2_control_node[2026-08-19 13:19:34.642] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.196539 ms (missed cycles : 4).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.575944 ms (missed cycles : 3).[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 2.583443 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787145590.92889237 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787145591.54224706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787145591.63238811 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787145592.28014421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3).[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 2.583443 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787145590.92889237 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787145591.54224706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787145591.63238811 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787145592.28014421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3).[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 2.583443 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787145590.92889237 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787145591.54224706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787145591.63238811 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787145592.28014421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3).[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 2.583443 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583443 ms (missed cycles : 2).[0m ×2 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.63sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-19 13:19:49.544] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.297166 ms (missed cycles : 2).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787145590.92889237 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.873528 ms (missed cycles : 5).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787145591.54224706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787145591.63238811 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.877667 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787145592.28014421 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.48sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.49sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Received new action goal ×2 + 3.49sINFOros2_control_node[2026-08-19 13:19:52.394] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912974 ms (missed cycles : 5).[0m ×2 + 4.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.810386 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488515 ms (missed cycles : 3).[0m ×2 + 0.51sWARNros2_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 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980499 ms (missed cycles : 2).[0m ×2 + 1.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.55sINFOobjective_server_nodeFound path in 0 iterations (4.12e-07 s). ×2 + 1.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-19 13:20:00.432] [info] Accepted new action goal ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636061 ms (missed cycles : 2).[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828148 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_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 + 3.80sERRORobjective_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: 1787145602.67030931 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787145603.31518340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421135 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-08-19 13:20:03.509] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706050 ms (missed cycles : 2).[0m ×2 + 6.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.343535 ms (missed cycles : 4).[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 9.586785 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586785 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848069 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.848069 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188571 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.188571 ms (missed cycles : 4).[0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962702 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962702 ms (missed cycles : 4).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787145636.74088168 seconds ×3 + 3.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.79sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.38sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787145637.41577244 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787145637.48591375 seconds ×3 + 5.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787145638.07916617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.17sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787145637.41577244 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 + 0.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.05sINFOros2_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 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.906381 ms (missed cycles : 9).[0m ×2 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787145637.48591375 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787145638.07916617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-19 13:20:38.203] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455374 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340950 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787145640.20929885 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174249 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174249 ms (missed cycles : 4).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787145641.80279040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068784 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068784 ms (missed cycles : 2).[0m ×2 + 5.14sWARNros2_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 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238394 ms (missed cycles : 4). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238394 ms (missed cycles : 4).[0m ×2 + 5.91sINFOobjective_server_node[2026-08-19 13:20:43.320] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573835 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.573835 ms (missed cycles : 2).[0m ×2 + 6.73sINFOobjective_server_node[0;93m2026-08-19 13:20:44.142556699 [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 + 6.73sINFOobjective_server_node[0;93m2026-08-19 13:20:44.142588065 [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 | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3).[0m ×2 + 0.05sINFOobjective_server_node[2026-08-19 13:20:45.164] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684801465 [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 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684837468 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-19 13:20:45.852] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.79sINFOobjective_server_node[0;93m2026-08-19 13:20:45.903041802 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908163302 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908191163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-19 13:20:45.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-19 13:20:46.344015396 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366940142 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366970827 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787145648.21365595 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787145648.88900971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3).[0m ×2 + 0.05sINFOobjective_server_node[2026-08-19 13:20:45.164] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684801465 [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 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684837468 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-19 13:20:45.852] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.79sINFOobjective_server_node[0;93m2026-08-19 13:20:45.903041802 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908163302 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908191163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-19 13:20:45.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-19 13:20:46.344015396 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366940142 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366970827 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787145648.21365595 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787145648.88900971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354201 ms (missed cycles : 3).[0m ×2 + 0.05sINFOobjective_server_node[2026-08-19 13:20:45.164] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684801465 [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 + 0.57sINFOobjective_server_node[0;93m2026-08-19 13:20:45.684837468 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.74sINFOobjective_server_node[2026-08-19 13:20:45.852] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.79sINFOobjective_server_node[0;93m2026-08-19 13:20:45.903041802 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908163302 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.80sINFOobjective_server_node[0;93m2026-08-19 13:20:45.908191163 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.86sINFOobjective_server_node[2026-08-19 13:20:45.970] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267786 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-19 13:20:46.344015396 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366940142 [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 + 1.25sINFOobjective_server_node[0;93m2026-08-19 13:20:46.366970827 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181491 ms (missed cycles : 4).[0m ×2 + 3.10sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787145648.21365595 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775980 ms (missed cycles : 5).[0m ×2 + 3.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787145648.88900971 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sINFOobjective_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 + 3.87sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-19 13:20:49.326] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769651 ms (missed cycles : 2).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.794059 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2715 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×441 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×441 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×882 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×882 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439887 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439887 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492948 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492948 ms (missed cycles : 2).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795001 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795001 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374854 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374854 ms (missed cycles : 4).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787145768.32282090 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787145768.96434736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.292332 ms (missed cycles : 7). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.292332 ms (missed cycles : 7).[0m ×2 + 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 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_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 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.00504079 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-19 13:22:49.230] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-19 13:22:49.230] [info] Accepted new action goal ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822274 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822274 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_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 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131224 ms (missed cycles : 5). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131224 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2715 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×441 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×441 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×882 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×882 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439887 ms (missed cycles : 2). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439887 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492948 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492948 ms (missed cycles : 2).[0m ×2 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795001 ms (missed cycles : 2). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795001 ms (missed cycles : 2).[0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374854 ms (missed cycles : 4). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374854 ms (missed cycles : 4).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.96sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.96sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.96sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.96sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787145768.32282090 seconds ×3 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787145768.96434736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.292332 ms (missed cycles : 7). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.292332 ms (missed cycles : 7).[0m ×2 + 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 + 4.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.70sINFOros2_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 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.00504079 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-19 13:22:49.230] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-19 13:22:49.230] [info] Accepted new action goal ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822274 ms (missed cycles : 2). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822274 ms (missed cycles : 2).[0m ×2 + 6.00sWARNros2_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 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131224 ms (missed cycles : 5). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131224 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431948 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431948 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325719 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325719 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824987 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824987 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787145797.65454674 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871230 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871230 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787145798.33351469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-19 13:23:18.557] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-19 13:23:18.557] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299487 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299487 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436128 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431948 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.431948 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325719 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325719 ms (missed cycles : 2).[0m ×2 + 1.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824987 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824987 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787145797.65454674 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871230 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871230 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787145798.33351469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.63sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.64sINFOros2_control_node[2026-08-19 13:23:18.557] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-08-19 13:23:18.557] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299487 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299487 ms (missed cycles : 3).[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436128 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436128 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Received new action goal ×2 + 0.56sINFOros2_control_node[2026-08-19 13:23:25.572] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745162 ms (missed cycles : 4).[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414151 ms (missed cycles : 2).[0m ×2 + 1.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Received new action goal ×2 + 2.42sINFOros2_control_node[2026-08-19 13:23:27.437] [info] Accepted new action goal ×2 + 2.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426880 ms (missed cycles : 3).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.54sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-19 13:23:28.563] [info] Canceling active goal... ×2 + 3.56sERRORobjective_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: 1787145808.57817125 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.62sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361829 ms (missed cycles : 3).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787145809.25045633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 13:23:29.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.360392 ms (missed cycles : 2).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705516 ms (missed cycles : 3).[0m ×2 + 6.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112418 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703064 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703064 ms (missed cycles : 6).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837548 ms (missed cycles : 5). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837548 ms (missed cycles : 5).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787145830.09047604 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358273 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358273 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787145830.70275712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (4.53e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.88sINFOros2_control_node[2026-08-19 13:23:50.857] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-08-19 13:23:50.857] [info] Accepted new action goal ×2 + 4.32sWARNros2_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 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187158 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.187158 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414987 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414987 ms (missed cycles : 2).[0m ×2 + 5.79sINFOobjective_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 1.858064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 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 + 3.27sERRORobjective_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: 1787145841.06301236 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [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 1.858064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 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 + 3.27sERRORobjective_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: 1787145841.06301236 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [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 1.858064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858064 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 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 + 3.27sERRORobjective_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: 1787145841.06301236 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.92sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_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 + 4.60sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 4.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.42sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.42sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×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 6.880895 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_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: 1787145841.06301236 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_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 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.40sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.880895 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.934717 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.052657 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_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 + 2.23sERRORobjective_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: 1787145841.06301236 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.30sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.31sINFOros2_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 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787145841.70643640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787145841.77657723 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.089863 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787145842.36559343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787145842.38772035 seconds ×3 + 3.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182014 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787145843.10743332 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.40sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-19 13:24:03.225] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377882 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405655 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650495 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650495 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757150 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757150 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_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 + 4.04sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Got request to cancel active goal. ×2 + 4.04sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Canceling active goal... ×2 + 4.04sERRORobjective_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: 1787145853.57335424 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 4.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787145854.16543126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787145854.74554992 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787145855.33893275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.81sINFOobjective_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 + 5.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787145855.34142280 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787145856.06670403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787145856.06720781 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650495 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.650495 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757150 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757150 ms (missed cycles : 2).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174440 ms (missed cycles : 4).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454706 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_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 + 4.04sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Got request to cancel active goal. ×2 + 4.04sINFOros2_control_node[2026-08-19 13:24:13.567] [info] Canceling active goal... ×2 + 4.04sERRORobjective_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: 1787145853.57335424 seconds ×3 + 4.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.05sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 4.05sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 4.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 4.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.803669 ms (missed cycles : 3).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787145854.16543126 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787145854.74554992 seconds ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.018039 ms (missed cycles : 5).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787145855.33893275 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.81sINFOobjective_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 + 5.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787145855.34142280 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491714 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787145856.06670403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.54sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787145856.06720781 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 · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.8s | 38 warnings · 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/2026-08-19-13-19-08-747367-5afc6a5b7945-8934 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.79sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.80sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.80sINFOcontroller_managerupdate rate is 600 Hz + 1.80sINFOcontroller_managerOverruns handling is : enabled + 1.80sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.80sWARNcontroller_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. + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734934 ms (missed cycles : 2). + 2.04sINFOros2_control_node-1process started with pid [8982] ×2 + 2.04sINFOmove_group-9process started with pid [9019] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [9020] ×2 + 2.04sINFOwaypoint_manager_node-11process started with pid [9021] ×2 + 2.04sINFOmove_joint_resampler_node-12process started with pid [9022] ×2 + 2.04sINFOmove_end_effector_resampler_node-13process started with pid [9023] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [9024] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [9025] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [9026] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [9027] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [9028] ×2 + 2.05sINFOweb_bridge-19process started with pid [9029] ×2 + 2.06sINFOtf2_web_republisher_node-20process started with pid [9093] ×2 + 2.06sINFOvideo_server-21process started with pid [9094] ×2 + 2.06sINFOweb_bridge_auth_proxy-22process started with pid [9095] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9096] ×2 + 2.06sINFOros2-2process started with pid [8983] ×2 + 2.06sINFOros2-3process started with pid [8984] ×2 + 2.06sINFOros2-4process started with pid [8985] ×2 + 2.06sINFOros2-5process started with pid [8986] ×2 + 2.06sINFOros2-6process started with pid [8987] ×2 + 2.06sINFOros2-7process started with pid [8988] ×2 + 2.06sINFOros2-8process started with pid [8989] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.09sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.09sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.09sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.09sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.09sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.09sWARNros2_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 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734934 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.09sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.41sINFOvideo_server2026/08/19 13:19:11 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.41sINFOvideo_server2026/08/19 13:19:11 INF configuration loaded from /tmp/moveit-webrtc-vtg4qv97/mediamtx.yml ×2 + 2.41sINFOvideo_server2026/08/19 13:19:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.41sINFOvideo_server2026/08/19 13:19:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967844 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967844 ms (missed cycles : 3).[0m ×2 + 3.13sINFOmove_group[2026-08-19 13:19:12.613] [moveit_pro_license] [info] ×2 + 3.13sINFOmove_group************************************************* ×4 + 3.13sINFOmove_group* MoveIt Pro License ×2 + 3.13sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOwaypoint_manager_node[2026-08-19 13:19:12.847] [moveit_pro_license] [info] ×2 + 3.36sINFOwaypoint_manager_node************************************************* ×4 + 3.36sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.36sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.47sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.52sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.56sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.57sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.57sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.57sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.57sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.57sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.58sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.59sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.61sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.61sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.61sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.61sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.64sINFOros2_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 + 3.64sINFOros2_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 + 3.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.73sINFOmove_group ×4 + 3.73sINFOmove_group[92mYou can start planning now![0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589639 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589639 ms (missed cycles : 4).[0m ×2 + 4.82sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.95sINFOobjective_server_node[2026-08-19 13:19:14.436] [moveit_pro_license] [info] ×2 + 4.95sINFOobjective_server_node************************************************* ×4 + 4.95sINFOobjective_server_node* MoveIt Pro License ×2 + 4.95sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.06sINFOobjective_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 + 5.06sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.07sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.07sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.07sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.07sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.07sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.07sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.07sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.07sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.37sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.37sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.42sINFOcomponent_container_mt[2026-08-19 13:19:14.911] [moveit_pro_license] [info] ×2 + 5.42sINFOcomponent_container_mt************************************************* ×4 + 5.42sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.42sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.50sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.50sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.50sWARNros2_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 + 5.50sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.50sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.50sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.50sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.50sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.50sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.50sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.50sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.50sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.50sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.50sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.50sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.50sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.50sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.50sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.50sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.50sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.50sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.50sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.70sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 5.70sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 5.71sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.71sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.72sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.72sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.72sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.75sINFOros2_control_node[2026-08-19 13:19:15.233] [info] Controller state will be published at 10 Hz. ×2 + 5.75sINFOros2_control_node[2026-08-19 13:19:15.234] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.02sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.03sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.03sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.03sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.08sINFOros2-7process has finished cleanly [pid 8988] ×2 + 6.09sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 6.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 6.14sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.15sINFOros2_control_node[2026-08-19 13:19:15.635] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.15sINFOros2_control_node[2026-08-19 13:19:15.635] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.17sINFOros2_control_node[2026-08-19 13:19:15.658] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.17sINFOros2_control_node[2026-08-19 13:19:15.658] [info] Controller state will be published at 50 Hz. ×2 + 6.18sINFOros2_control_node[2026-08-19 13:19:15.663] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5).[0m ×2 + 6.50sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.50sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.51sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.51sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 6.51sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 6.55sINFOros2-6process has finished cleanly [pid 8987] ×2 + 6.57sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.57sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.57sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.57sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.57sINFOforce_torque_sensor_broadcasterconfigure successful + 6.57sINFOros2_control_nodeconfigure successful[0m ×2 + 6.58sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.58sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.58sINFOcontroller_managerSuccessfully switched controllers! ×14 + 6.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 6.58sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.58sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.89sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.89sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.89sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.89sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.90sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 6.90sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 6.91sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.91sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.92sINFOros2-2process has finished cleanly [pid 8983] ×2 + 6.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.23sWARNobjective_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 + 7.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 7.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 7.30sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.31sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.32sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.32sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.34sINFOros2-3process has finished cleanly [pid 8984] ×2 + 7.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.39sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 7.39sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 7.54sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.64sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 7.64sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 7.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 7.64sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 7.65sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 7.65sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 7.65sINFOros2-4process has finished cleanly [pid 8985] ×2 + 7.71sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 7.71sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 7.71sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 7.71sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 7.71sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 7.71sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 7.71sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 7.71sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 7.72sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 7.72sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 7.72sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 7.72sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 7.72sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 7.72sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 7.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.73sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 7.73sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.05sINFOros2-5process has finished cleanly [pid 8986] ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×2 + 8.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 8.13sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 8.13sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 8.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.18sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.18sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.18sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.21sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 8.21sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.55sINFOros2-8process has finished cleanly [pid 8989] ×2 + 8.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 9.49sWARNros2_control_nodeCamera render tick took 1.82 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 + 9.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 10.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 11.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 314 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.01sINFOros2-4process has finished cleanly [pid 8985] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 8986] ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×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 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.57sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2-8process has finished cleanly [pid 8989] ×2 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.80sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 24 warnings · 395 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8983] ×2 + 0.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.04sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.04sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.05sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.31sWARNobjective_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 : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOros2-3process has finished cleanly [pid 8984] ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.62sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.73sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.73sINFOros2-4process has finished cleanly [pid 8985] ×2 + 0.79sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.79sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.79sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.80sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.80sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.81sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.81sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.13sINFOros2-5process has finished cleanly [pid 8986] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×2 + 1.15sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.15sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 1.21sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.26sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.27sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.29sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.63sINFOros2-8process has finished cleanly [pid 8989] ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 2.57sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.52sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 25 warnings · 314 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.01sINFOros2-4process has finished cleanly [pid 8985] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 8986] ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×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 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.55sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.57sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 0.57sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2-8process has finished cleanly [pid 8989] ×2 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 1.85sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 4.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 5.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 5.79sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.80sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 5.80sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 404 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.13sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.15sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.15sINFOforce_torque_sensor_broadcasterconfigure successful + 0.15sINFOros2_control_nodeconfigure successful[0m ×2 + 0.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.16sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.16sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 8983] ×2 + 0.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.55sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sWARNobjective_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 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.88sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOros2-3process has finished cleanly [pid 8984] ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.23sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.23sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.23sINFOros2-4process has finished cleanly [pid 8985] ×2 + 1.29sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.30sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.30sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.31sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.31sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.63sINFOros2-5process has finished cleanly [pid 8986] ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.76sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.76sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.79sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.13sINFOros2-8process has finished cleanly [pid 8989] ×2 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 3.07sWARNros2_control_nodeCamera render tick took 1.82 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 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 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/2026-08-19-13-19-08-747367-5afc6a5b7945-8934 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.79sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.80sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.80sINFOcontroller_managerupdate rate is 600 Hz + 1.80sINFOcontroller_managerOverruns handling is : enabled + 1.80sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.80sWARNcontroller_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. + 1.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734934 ms (missed cycles : 2). + 2.04sINFOros2_control_node-1process started with pid [8982] ×2 + 2.04sINFOmove_group-9process started with pid [9019] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [9020] ×2 + 2.04sINFOwaypoint_manager_node-11process started with pid [9021] ×2 + 2.04sINFOmove_joint_resampler_node-12process started with pid [9022] ×2 + 2.04sINFOmove_end_effector_resampler_node-13process started with pid [9023] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [9024] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [9025] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [9026] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [9027] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [9028] ×2 + 2.05sINFOweb_bridge-19process started with pid [9029] ×2 + 2.06sINFOtf2_web_republisher_node-20process started with pid [9093] ×2 + 2.06sINFOvideo_server-21process started with pid [9094] ×2 + 2.06sINFOweb_bridge_auth_proxy-22process started with pid [9095] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9096] ×2 + 2.06sINFOros2-2process started with pid [8983] ×2 + 2.06sINFOros2-3process started with pid [8984] ×2 + 2.06sINFOros2-4process started with pid [8985] ×2 + 2.06sINFOros2-5process started with pid [8986] ×2 + 2.06sINFOros2-6process started with pid [8987] ×2 + 2.06sINFOros2-7process started with pid [8988] ×2 + 2.06sINFOros2-8process started with pid [8989] ×2 + 2.09sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.09sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.09sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.09sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.09sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.09sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.09sWARNros2_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 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.734934 ms (missed cycles : 2).[0m ×2 + 2.09sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.09sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.12sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.41sINFOvideo_server2026/08/19 13:19:11 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.41sINFOvideo_server2026/08/19 13:19:11 INF configuration loaded from /tmp/moveit-webrtc-vtg4qv97/mediamtx.yml ×2 + 2.41sINFOvideo_server2026/08/19 13:19:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.41sINFOvideo_server2026/08/19 13:19:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 404 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.13sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.15sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.15sINFOforce_torque_sensor_broadcasterconfigure successful + 0.15sINFOros2_control_nodeconfigure successful[0m ×2 + 0.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.16sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.16sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 8983] ×2 + 0.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.55sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sWARNobjective_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 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.88sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOros2-3process has finished cleanly [pid 8984] ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.23sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.23sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.23sINFOros2-4process has finished cleanly [pid 8985] ×2 + 1.29sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.30sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.30sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.31sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.31sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.63sINFOros2-5process has finished cleanly [pid 8986] ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.76sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.76sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.79sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.13sINFOros2-8process has finished cleanly [pid 8989] ×2 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 3.07sWARNros2_control_nodeCamera render tick took 1.82 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 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 404 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.978530 ms (missed cycles : 5).[0m ×2 + 0.08sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.08sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.09sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.09sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.13sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.15sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.15sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.15sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.15sINFOforce_torque_sensor_broadcasterconfigure successful + 0.15sINFOros2_control_nodeconfigure successful[0m ×2 + 0.16sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.16sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.16sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.16sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.16sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2-2process has finished cleanly [pid 8983] ×2 + 0.54sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.54sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.54sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.55sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.81sWARNobjective_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 + 0.84sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.84sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.84sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.85sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.85sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.88sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.90sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.90sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOros2-3process has finished cleanly [pid 8984] ×2 + 0.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.22sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.22sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.22sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.22sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.23sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.23sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.23sINFOros2-4process has finished cleanly [pid 8985] ×2 + 1.29sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.30sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.30sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.31sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.31sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.63sINFOros2-5process has finished cleanly [pid 8986] ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 1.71sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.71sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.76sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.76sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.77sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.77sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.79sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 1.79sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.13sINFOros2-8process has finished cleanly [pid 8989] ×2 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 3.07sWARNros2_control_nodeCamera render tick took 1.82 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 + 3.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 4.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 4.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.28sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.28sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 24 warnings · 395 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8983] ×2 + 0.04sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.04sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.04sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.04sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.05sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.31sWARNobjective_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 : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.42sINFOros2-3process has finished cleanly [pid 8984] ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.62sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.72sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.72sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.72sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 0.73sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 0.73sINFOros2-4process has finished cleanly [pid 8985] ×2 + 0.79sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.79sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.79sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.79sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.79sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.80sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.80sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.80sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.81sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.81sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.13sINFOros2-5process has finished cleanly [pid 8986] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323666 ms (missed cycles : 3).[0m ×2 + 1.15sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.15sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787145557.57487464 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787145557.58513212 seconds ×3 + 1.21sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n + 1.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1g5xucv9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_rlfwjx_z --params-file /tmp/launch_params_gh921y2n [0m ×2 + 1.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 1.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 1.26sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.27sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.29sINFOros2_control_node[2026-08-19 13:19:17.701] [info] Controller state will be published at 20 Hz. ×2 + 1.29sINFOros2_control_node[2026-08-19 13:19:17.702] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.63sINFOros2-8process has finished cleanly [pid 8989] ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 2.57sWARNros2_control_nodeCamera render tick took 1.82 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.52sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 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 · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 235 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 + 6.98sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924325 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924325 ms (missed cycles : 2).[0m ×2 + 7.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.40sINFOros2_control_node[2026-08-19 13:19:25.436] [info] Received new action goal ×2 + 7.40sINFOros2_control_node[2026-08-19 13:19:25.436] [info] Accepted new action goal ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787145558.22213030 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212070 ms (missed cycles : 2).[0m ×2 + 0.94sWARNros2_control_nodeCamera render tick took 1.82 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 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787145559.28229737 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806892 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787145559.89567137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787145559.95582628 seconds ×3 + 2.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787145560.61151385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787145560.63164854 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097584 ms (missed cycles : 4).[0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787145561.34543419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787145561.49601507 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2). + 3.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.157756 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787145562.16331172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787145562.20343494 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787145562.80144453 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.4688e-05 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-19 13:19:22.927] [info] Accepted new action goal ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967201 ms (missed cycles : 2).[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497062 ms (missed cycles : 3).[0m ×2 | ||||