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 | 163 warnings · 19770 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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-19 14:07:53.658] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-19 14:07:53.658] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785583 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785583 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282753 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282753 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686572 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686572 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787148477.26361799 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623210 ms (missed cycles : 6). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623210 ms (missed cycles : 6).[0m ×2 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_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 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787148477.87090015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.51sINFOros2_control_node[2026-08-19 14:07:58.044] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-19 14:07:58.044] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648525 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648525 ms (missed cycles : 6).[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 + 5.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_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 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761370 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761370 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136899 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136899 ms (missed cycles : 2).[0m ×2 + 7.95sINFOjoint_trajectory_controllerReceived new action goal ×3253 + 7.95sINFOjoint_trajectory_controllerAccepted new action goal ×3253 + 7.95sINFOros2_control_nodeReceived new action goal[0m ×6506 + 7.95sINFOros2_control_nodeAccepted new action goal[0m ×6506 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069949 ms (missed cycles : 4). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069949 ms (missed cycles : 4).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698363 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698363 ms (missed cycles : 2).[0m ×2 + 9.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 10.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787082 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787082 ms (missed cycles : 2).[0m ×2 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630779 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630779 ms (missed cycles : 2).[0m ×2 + 12.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232876 ms (missed cycles : 2). + 12.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232876 ms (missed cycles : 2).[0m ×2 + 12.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.84sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294601 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294601 ms (missed cycles : 2).[0m ×2 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225138 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225138 ms (missed cycles : 2).[0m ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027886 ms (missed cycles : 2). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027886 ms (missed cycles : 2).[0m ×2 + 16.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 16.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708741 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708741 ms (missed cycles : 2).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734208 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734208 ms (missed cycles : 2).[0m ×2 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683349 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683349 ms (missed cycles : 2).[0m ×2 + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706898 ms (missed cycles : 5). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.706898 ms (missed cycles : 5).[0m ×2 + 20.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702870 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702870 ms (missed cycles : 2).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775795 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775795 ms (missed cycles : 2).[0m ×2 + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854394 ms (missed cycles : 5). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.854394 ms (missed cycles : 5).[0m ×2 + 23.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 23.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803231 ms (missed cycles : 2). + 23.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803231 ms (missed cycles : 2).[0m ×2 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451979 ms (missed cycles : 6). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451979 ms (missed cycles : 6).[0m ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869199 ms (missed cycles : 2). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869199 ms (missed cycles : 2).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144859 ms (missed cycles : 2). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144859 ms (missed cycles : 2).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914635 ms (missed cycles : 3). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914635 ms (missed cycles : 3).[0m ×2 + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205856 ms (missed cycles : 3). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205856 ms (missed cycles : 3).[0m ×2 + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247994 ms (missed cycles : 2). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247994 ms (missed cycles : 2).[0m ×2 + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328544 ms (missed cycles : 2). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328544 ms (missed cycles : 2).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784909 ms (missed cycles : 2). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.784909 ms (missed cycles : 2).[0m ×2 + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775620 ms (missed cycles : 2). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775620 ms (missed cycles : 2).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156365 ms (missed cycles : 3). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156365 ms (missed cycles : 3).[0m ×2 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179588 ms (missed cycles : 2). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179588 ms (missed cycles : 2).[0m ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686436 ms (missed cycles : 2). + 36.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686436 ms (missed cycles : 2).[0m ×2 + 37.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968474 ms (missed cycles : 3). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968474 ms (missed cycles : 3).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047176 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047176 ms (missed cycles : 2).[0m ×2 + 39.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887209 ms (missed cycles : 2). + 39.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887209 ms (missed cycles : 2).[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697203 ms (missed cycles : 2). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697203 ms (missed cycles : 2).[0m ×2 + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278349 ms (missed cycles : 2). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278349 ms (missed cycles : 2).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915965 ms (missed cycles : 2). + 42.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915965 ms (missed cycles : 2).[0m ×2 + 43.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857459 ms (missed cycles : 2). + 43.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857459 ms (missed cycles : 2).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271388 ms (missed cycles : 5). + 44.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271388 ms (missed cycles : 5).[0m ×2 + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972173 ms (missed cycles : 2). + 45.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972173 ms (missed cycles : 2).[0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044210 ms (missed cycles : 2). + 46.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044210 ms (missed cycles : 2).[0m ×2 + 47.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773777 ms (missed cycles : 3). + 47.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773777 ms (missed cycles : 3).[0m ×2 + 48.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787148521.67910075 seconds ×3 + 48.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.16sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.18sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 48.18sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 48.29sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787148522.31486201 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 + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123791 ms (missed cycles : 3). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123791 ms (missed cycles : 3).[0m ×2 + 48.93sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 48.94sINFOros2_control_node[2026-08-19 14:08:42.478] [info] Received new action goal ×2 + 48.94sINFOros2_control_node[2026-08-19 14:08:42.478] [info] Accepted new action goal ×2 + 49.73sWARNros2_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 + 49.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789649 ms (missed cycles : 3). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789649 ms (missed cycles : 3).[0m ×2 + 50.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490264 ms (missed cycles : 2). + 50.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490264 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 41.9s | 151 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-19 14:07:00.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153895871 [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 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153926081 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sINFOobjective_server_node[2026-08-19 14:07:01.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.369158332 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372190329 [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 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372221897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.13sINFOobjective_server_node[2026-08-19 14:07:01.437] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-19 14:07:01.774777150 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.800985636 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.801017092 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4).[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787148423.58391833 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787148424.26303697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5).[0m ×2 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (6.99e-07 s). ×2 + 7.25sINFOros2_control_node[2026-08-19 14:07:07.557] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-08-19 14:07:07.557] [info] Accepted new action goal ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641364 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641364 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443331 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443331 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994017 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994017 ms (missed cycles : 3).[0m ×2 + 10.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.43sINFOros2_control_node[2026-08-19 14:07:10.737] [info] Received new action goal ×2 + 10.43sINFOros2_control_node[2026-08-19 14:07:10.737] [info] Accepted new action goal ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043577 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.043577 ms (missed cycles : 3).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853417 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853417 ms (missed cycles : 3).[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084451 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084451 ms (missed cycles : 2).[0m ×2 + 13.40sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 13.41sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.46sINFOros2_control_node[2026-08-19 14:07:13.763] [info] Received new action goal ×2 + 13.46sINFOros2_control_node[2026-08-19 14:07:13.764] [info] Accepted new action goal ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129012 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129012 ms (missed cycles : 2).[0m ×2 + 13.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417272 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.417272 ms (missed cycles : 2).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709807 ms (missed cycles : 5). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709807 ms (missed cycles : 5).[0m ×2 + 16.42sINFOobjective_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 + 16.42sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.42sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.42sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.42sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847937 ms (missed cycles : 4). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.847937 ms (missed cycles : 4).[0m ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820144 ms (missed cycles : 5). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.820144 ms (missed cycles : 5).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715947 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715947 ms (missed cycles : 2).[0m ×2 + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.247036 ms (missed cycles : 6). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.247036 ms (missed cycles : 6).[0m ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401521 ms (missed cycles : 2). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401521 ms (missed cycles : 2).[0m ×2 + 23.19sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.19sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.19sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.19sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.19sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435496 ms (missed cycles : 3). + 23.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435496 ms (missed cycles : 3).[0m ×2 + 24.13sINFOros2_control_node[2026-08-19 14:07:24.436] [info] Received new action goal ×2 + 24.13sINFOros2_control_node[2026-08-19 14:07:24.436] [info] Accepted new action goal ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095347 ms (missed cycles : 2). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095347 ms (missed cycles : 2).[0m ×2 + 25.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.033501 ms (missed cycles : 5). + 25.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.033501 ms (missed cycles : 5).[0m ×2 + 25.30sINFOobjective_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 + 25.31sINFOobjective_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 + 25.58sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 25.58sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.62sINFOros2_control_node[2026-08-19 14:07:25.930] [info] Received new action goal ×2 + 25.62sINFOros2_control_node[2026-08-19 14:07:25.930] [info] Accepted new action goal ×2 + 26.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×4 + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406149 ms (missed cycles : 3). + 26.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406149 ms (missed cycles : 3).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708055 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708055 ms (missed cycles : 2).[0m ×2 + 27.75sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 27.75sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.76sINFOros2_control_node[2026-08-19 14:07:28.067] [info] Received new action goal ×2 + 27.76sINFOros2_control_node[2026-08-19 14:07:28.067] [info] Accepted new action goal ×2 + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920450 ms (missed cycles : 2). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920450 ms (missed cycles : 2).[0m ×2 + 29.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021008 ms (missed cycles : 2). + 29.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021008 ms (missed cycles : 2).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796172 ms (missed cycles : 3). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796172 ms (missed cycles : 3).[0m ×2 + 30.80sINFOros2_control_node[2026-08-19 14:07:31.108] [info] Received new action goal ×2 + 30.80sINFOros2_control_node[2026-08-19 14:07:31.108] [info] Accepted new action goal ×2 + 31.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719850 ms (missed cycles : 2). + 31.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719850 ms (missed cycles : 2).[0m ×2 + 32.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354513 ms (missed cycles : 4). + 32.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354513 ms (missed cycles : 4).[0m ×2 + 33.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 33.39sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 33.40sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.44sINFOros2_control_node[2026-08-19 14:07:33.750] [info] Received new action goal ×2 + 33.44sINFOros2_control_node[2026-08-19 14:07:33.750] [info] Accepted new action goal ×2 + 33.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342190 ms (missed cycles : 5). + 33.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342190 ms (missed cycles : 5).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328657 ms (missed cycles : 2). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328657 ms (missed cycles : 2).[0m ×2 + 35.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090800 ms (missed cycles : 4). + 35.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090800 ms (missed cycles : 4).[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152647 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152647 ms (missed cycles : 3).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.388752 ms (missed cycles : 6). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.388752 ms (missed cycles : 6).[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640396 ms (missed cycles : 5). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.640396 ms (missed cycles : 5).[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403287 ms (missed cycles : 6). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403287 ms (missed cycles : 6).[0m ×2 + 41.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433743 ms (missed cycles : 2). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433743 ms (missed cycles : 2).[0m ×2 + 41.52sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670822 ms (missed cycles : 2). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670822 ms (missed cycles : 2).[0m ×2 + 43.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656838 ms (missed cycles : 4). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656838 ms (missed cycles : 4).[0m ×2 + 44.08sINFOros2_control_node[2026-08-19 14:07:44.387] [info] Received new action goal ×2 + 44.08sINFOros2_control_node[2026-08-19 14:07:44.387] [info] Accepted new action goal ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825228 ms (missed cycles : 2). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825228 ms (missed cycles : 2).[0m ×2 + 45.23sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787148465.54323626 seconds ×3 + 45.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151927 ms (missed cycles : 4). + 45.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151927 ms (missed cycles : 4).[0m ×2 + 46.05sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787148466.35346913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189978 ms (missed cycles : 5). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189978 ms (missed cycles : 5).[0m ×2 + 47.23sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 47.24sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.25sINFOros2_control_node[2026-08-19 14:07:47.558] [info] Received new action goal ×2 + 47.25sINFOros2_control_node[2026-08-19 14:07:47.558] [info] Accepted new action goal ×2 + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507537 ms (missed cycles : 6). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507537 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 28.3s | 108 warnings · 2727 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×419 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×419 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×838 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×838 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676871 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676871 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883581 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883581 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802934 ms (missed cycles : 6). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802934 ms (missed cycles : 6).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752789 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752789 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787148543.78622890 seconds ×3 + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393172 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393172 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787148544.42606354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.005903 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-19 14:09:04.681] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-19 14:09:04.681] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111236 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111236 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185515 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185515 ms (missed cycles : 3).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630574 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630574 ms (missed cycles : 2).[0m ×2 + 8.25sWARNros2_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 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846221 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846221 ms (missed cycles : 3).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120839 ms (missed cycles : 4). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.120839 ms (missed cycles : 4).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897364 ms (missed cycles : 2). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897364 ms (missed cycles : 2).[0m ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357273 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357273 ms (missed cycles : 3).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.909419 ms (missed cycles : 8). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.909419 ms (missed cycles : 8).[0m ×2 + 14.10sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001288 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001288 ms (missed cycles : 2).[0m ×2 + 14.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326754 ms (missed cycles : 4). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326754 ms (missed cycles : 4).[0m ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855691 ms (missed cycles : 3). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855691 ms (missed cycles : 3).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.922253 ms (missed cycles : 8). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.922253 ms (missed cycles : 8).[0m ×2 + 17.73sINFOobjective_server_nodeFound path in 4 iterations (0.00396077 s). ×2 + 17.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 17.85sINFOobjective_server_nodeFound path in 12 iterations (0.00578655 s). ×2 + 17.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 17.96sINFOobjective_server_nodeFound path in 2 iterations (0.00373986 s). ×2 + 18.02sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 18.04sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 18.07sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.09sINFOobjective_server_nodeFound path in 0 iterations (2.03e-07 s). ×2 + 18.12sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.15sINFOobjective_server_nodeFound path in 12 iterations (0.00593801 s). ×2 + 18.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 18.25sINFOobjective_server_nodeFound path in 1 iterations (0.007695 s). ×2 + 18.30sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 18.32sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 18.36sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] ×2 + 18.38sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 18.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.45sINFOobjective_server_nodeFound path in 4 iterations (0.00605599 s). ×2 + 18.55sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.57sINFOobjective_server_nodeFound path in 4 iterations (0.00320224 s). ×2 + 18.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 18.69sINFOobjective_server_nodeFound path in 1 iterations (0.00613473 s). ×2 + 18.75sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 18.78sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192143 ms (missed cycles : 4). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192143 ms (missed cycles : 4).[0m ×2 + 18.85sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 18.88sINFOobjective_server_nodeFound path in 1 iterations (0.00306116 s). ×2 + 18.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 18.99sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 19.05sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.07sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 19.16sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 19.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 19.40sINFOros2_control_node[2026-08-19 14:09:19.208] [info] Received new action goal ×2 + 19.40sINFOros2_control_node[2026-08-19 14:09:19.208] [info] Accepted new action goal ×2 + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628338 ms (missed cycles : 3). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628338 ms (missed cycles : 3).[0m ×2 + 20.52sWARNros2_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 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278619 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278619 ms (missed cycles : 2).[0m ×2 + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295437 ms (missed cycles : 2). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295437 ms (missed cycles : 2).[0m ×2 + 23.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339791 ms (missed cycles : 4). + 23.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339791 ms (missed cycles : 4).[0m ×2 + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295980 ms (missed cycles : 4). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295980 ms (missed cycles : 4).[0m ×2 + 25.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628685 ms (missed cycles : 4). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.628685 ms (missed cycles : 4).[0m ×2 + 25.53sINFOros2_control_node[2026-08-19 14:09:25.340] [info] Received new action goal ×2 + 25.53sINFOros2_control_node[2026-08-19 14:09:25.340] [info] Accepted new action goal ×2 + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701115 ms (missed cycles : 5). + 26.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.701115 ms (missed cycles : 5).[0m ×2 + 26.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 26.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.95sINFOros2_control_node[2026-08-19 14:09:26.762] [info] Received new action goal ×2 + 26.95sINFOros2_control_node[2026-08-19 14:09:26.762] [info] Accepted new action goal ×2 + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505880 ms (missed cycles : 3). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505880 ms (missed cycles : 3).[0m ×2 + 28.00sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.03sINFOros2_control_node[2026-08-19 14:09:27.843] [info] Received new action goal ×2 + 28.03sINFOros2_control_node[2026-08-19 14:09:27.843] [info] Accepted new action goal ×2 + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589393 ms (missed cycles : 4). + 29.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589393 ms (missed cycles : 4).[0m ×2 + 30.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046881 ms (missed cycles : 4). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046881 ms (missed cycles : 4).[0m ×2 + 31.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924589 ms (missed cycles : 3). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924589 ms (missed cycles : 3).[0m ×2 + 32.28sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787148572.08876967 seconds ×3 + 32.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099049 ms (missed cycles : 2). + 32.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099049 ms (missed cycles : 2).[0m ×2 + 32.44sWARNros2_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 + 32.96sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787148572.76751161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.17sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 33.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.18sINFOros2_control_node[2026-08-19 14:09:32.991] [info] Received new action goal ×2 + 33.18sINFOros2_control_node[2026-08-19 14:09:32.991] [info] Accepted new action goal ×2 + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991619 ms (missed cycles : 3). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991619 ms (missed cycles : 3).[0m ×2 + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321101 ms (missed cycles : 5). + 34.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321101 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 14116 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2326 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2326 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4652 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4652 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271388 ms (missed cycles : 5). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.271388 ms (missed cycles : 5).[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972173 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972173 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044210 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044210 ms (missed cycles : 2).[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773777 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773777 ms (missed cycles : 3).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787148521.67910075 seconds ×3 + 3.98sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.98sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.12sINFOros2_control_nodeMuJoCo sim: 0.30% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787148522.31486201 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123791 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123791 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-19 14:08:42.478] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-19 14:08:42.478] [info] Accepted new action goal ×2 + 5.56sWARNros2_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 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789649 ms (missed cycles : 3). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789649 ms (missed cycles : 3).[0m ×2 + 6.00sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 6.06sINFOobjective_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 + 6.08sINFOobjective_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 + 6.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490264 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490264 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237564 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237564 ms (missed cycles : 2).[0m ×2 + 8.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003004 ms (missed cycles : 2). + 8.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003004 ms (missed cycles : 2).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.078050 ms (missed cycles : 8). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.078050 ms (missed cycles : 8).[0m ×2 + 10.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397680 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397680 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808106 ms (missed cycles : 4). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808106 ms (missed cycles : 4).[0m ×2 + 13.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894129 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894129 ms (missed cycles : 2).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841344 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841344 ms (missed cycles : 2).[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902856 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902856 ms (missed cycles : 2).[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847188 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847188 ms (missed cycles : 2).[0m ×2 + 17.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595256 ms (missed cycles : 4). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.595256 ms (missed cycles : 4).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374111 ms (missed cycles : 3). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374111 ms (missed cycles : 3).[0m ×2 + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819298 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819298 ms (missed cycles : 2).[0m ×2 + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223544 ms (missed cycles : 4). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223544 ms (missed cycles : 4).[0m ×2 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.384141 ms (missed cycles : 7). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.384141 ms (missed cycles : 7).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676871 ms (missed cycles : 2). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676871 ms (missed cycles : 2).[0m ×2 + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883581 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883581 ms (missed cycles : 2).[0m ×2 + 23.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 24.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802934 ms (missed cycles : 6). + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802934 ms (missed cycles : 6).[0m ×2 + 25.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752789 ms (missed cycles : 2). + 25.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752789 ms (missed cycles : 2).[0m ×2 + 26.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787148543.78622890 seconds ×3 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393172 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393172 ms (missed cycles : 2).[0m ×2 + 26.72sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787148544.42606354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.90sINFOobjective_server_nodeFound path in 5 iterations (0.005903 s). ×2 + 26.96sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.98sINFOros2_control_node[2026-08-19 14:09:04.681] [info] Received new action goal ×2 + 26.98sINFOros2_control_node[2026-08-19 14:09:04.681] [info] Accepted new action goal ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111236 ms (missed cycles : 5). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111236 ms (missed cycles : 5).[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185515 ms (missed cycles : 3). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185515 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.0s | 3 errors · 71 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 2.48sERRORobjective_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: 1787148349.95713377 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913918 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913918 ms (missed cycles : 5).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143422 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143422 ms (missed cycles : 2).[0m ×2 + 7.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066110 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066110 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744657 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744657 ms (missed cycles : 2).[0m ×2 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995669 ms (missed cycles : 2). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995669 ms (missed cycles : 2).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733635 ms (missed cycles : 5). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733635 ms (missed cycles : 5).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669982 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669982 ms (missed cycles : 2).[0m ×2 + 12.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.91sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.20sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 13.20sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 13.23sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.30sINFOobjective_server_nodeFound path in 1 iterations (0.00302822 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.48sINFOros2_control_node[2026-08-19 14:06:00.962] [info] Received new action goal ×2 + 13.48sINFOros2_control_node[2026-08-19 14:06:00.962] [info] Accepted new action goal ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565214 ms (missed cycles : 4). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.565214 ms (missed cycles : 4).[0m ×2 + 14.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241115 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.241115 ms (missed cycles : 2).[0m ×2 + 15.95sINFOros2_control_node[2026-08-19 14:06:03.434] [info] Received new action goal ×2 + 15.95sINFOros2_control_node[2026-08-19 14:06:03.434] [info] Accepted new action goal ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3).[0m ×2 + 17.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.88sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Received new action goal ×2 + 17.88sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Accepted new action goal ×2 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5).[0m ×2 + 19.26sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787148366.74298978 seconds ×3 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2).[0m ×2 + 19.89sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787148367.37139750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.95sWARNros2_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 + 19.98sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787148367.46151805 seconds ×3 + 20.63sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787148368.10815048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.73sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 20.74sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.75sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Received new action goal ×2 + 20.75sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Accepted new action goal ×2 + 20.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5). + 20.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5).[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689464 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689464 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828394 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828394 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.62sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×4 + 1.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.70sINFOobjective_server_nodeFound path in 1 iterations (0.00337597 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.89sINFOros2_control_node[2026-08-19 14:06:38.652] [info] Received new action goal ×2 + 1.89sINFOros2_control_node[2026-08-19 14:06:38.652] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451312 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451312 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_node[2026-08-19 14:06:39.085] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-08-19 14:06:39.085] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912365 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912365 ms (missed cycles : 3).[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 + 3.58sINFOros2_control_node[2026-08-19 14:06:40.347] [info] Got request to cancel active goal. ×2 + 3.58sINFOros2_control_node[2026-08-19 14:06:40.347] [info] Canceling active goal... ×2 + 3.59sERRORobjective_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: 1787148400.35684037 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787148401.00689960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902088 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902088 ms (missed cycles : 3).[0m ×2 + 4.41sINFOros2_control_node[2026-08-19 14:06:41.180] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 14:06:41.180] [info] Accepted new action goal ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830898 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830898 ms (missed cycles : 5).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414134 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414134 ms (missed cycles : 3).[0m ×2 + 6.93sINFOros2_control_node[2026-08-19 14:06:43.697] [info] Received new action goal ×2 + 6.93sINFOros2_control_node[2026-08-19 14:06:43.697] [info] Accepted new action goal ×2 + 7.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335841 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335841 ms (missed cycles : 3).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764192 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.764192 ms (missed cycles : 4).[0m ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776463 ms (missed cycles : 5). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.776463 ms (missed cycles : 5).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.754032 ms (missed cycles : 6). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.754032 ms (missed cycles : 6).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592243 ms (missed cycles : 4). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592243 ms (missed cycles : 4).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333451 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333451 ms (missed cycles : 2).[0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553719 ms (missed cycles : 3). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553719 ms (missed cycles : 3).[0m ×2 + 15.50sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787148412.26659465 seconds ×3 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575612 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575612 ms (missed cycles : 3).[0m ×2 + 16.16sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787148412.92319012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.21sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.23sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787148412.99331474 seconds ×3 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2).[0m ×2 + 16.83sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787148413.59513879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.95sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 16.95sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.95sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Received new action goal ×2 + 16.95sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Accepted new action goal ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 184 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670822 ms (missed cycles : 2). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670822 ms (missed cycles : 2).[0m ×2 + 1.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.68sINFOobjective_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 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.68sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.68sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.68sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.68sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656838 ms (missed cycles : 4). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.656838 ms (missed cycles : 4).[0m ×2 + 2.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.56sINFOros2_control_node[2026-08-19 14:07:44.387] [info] Received new action goal ×2 + 2.56sINFOros2_control_node[2026-08-19 14:07:44.387] [info] Accepted new action goal ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825228 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825228 ms (missed cycles : 2).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1787148465.54323626 seconds ×3 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151927 ms (missed cycles : 4). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.151927 ms (missed cycles : 4).[0m ×2 + 3.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.81sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.53sINFOobjective_server_nodeObjective `Push Button` starting at time: 1787148466.35346913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189978 ms (missed cycles : 5). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.189978 ms (missed cycles : 5).[0m ×2 + 5.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.71sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 5.72sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.74sINFOros2_control_node[2026-08-19 14:07:47.558] [info] Received new action goal ×2 + 5.74sINFOros2_control_node[2026-08-19 14:07:47.558] [info] Accepted new action goal ×2 + 5.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507537 ms (missed cycles : 6). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.507537 ms (missed cycles : 6).[0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208453 ms (missed cycles : 7). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.208453 ms (missed cycles : 7).[0m ×2 + 7.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666712 ms (missed cycles : 2). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.666712 ms (missed cycles : 2).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429447 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429447 ms (missed cycles : 2).[0m ×2 + 9.43sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.43sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.43sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.43sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.44sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830884 ms (missed cycles : 2). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830884 ms (missed cycles : 2).[0m ×2 + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251167 ms (missed cycles : 5). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251167 ms (missed cycles : 5).[0m ×2 + 11.82sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 11.83sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.84sINFOros2_control_node[2026-08-19 14:07:53.658] [info] Received new action goal ×2 + 11.84sINFOros2_control_node[2026-08-19 14:07:53.658] [info] Accepted new action goal ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785583 ms (missed cycles : 4). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785583 ms (missed cycles : 4).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282753 ms (missed cycles : 2). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282753 ms (missed cycles : 2).[0m ×2 + 13.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686572 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686572 ms (missed cycles : 2).[0m ×2 + 15.44sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787148477.26361799 seconds ×3 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623210 ms (missed cycles : 6). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623210 ms (missed cycles : 6).[0m ×2 + 16.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787148477.87090015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.22sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 16.22sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.22sINFOros2_control_node[2026-08-19 14:07:58.044] [info] Received new action goal ×2 + 16.22sINFOros2_control_node[2026-08-19 14:07:58.044] [info] Accepted new action goal ×2 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648525 ms (missed cycles : 6). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648525 ms (missed cycles : 6).[0m ×2 + 17.48sINFOobjective_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 + 17.49sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761370 ms (missed cycles : 2). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761370 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 57 errors · 42 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 0.48sINFOobjective_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 + 0.49sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Got request to cancel active goal. ×2 + 0.49sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Canceling active goal... ×2 + 0.50sERRORobjective_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: 1787148627.85549903 seconds ×3 + 0.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148628.44804430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148629.58818603 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787148630.18491459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.83sINFOobjective_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 + 2.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787148630.18688130 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787148630.91956258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787148630.92063785 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787148631.51611257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916069 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916069 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436176 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436176 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787148632.63624191 seconds ×3 + 5.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965309 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965309 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436701 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436701 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162724 ms (missed cycles : 4). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.162724 ms (missed cycles : 4).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396308 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396308 ms (missed cycles : 2).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033505 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033505 ms (missed cycles : 2).[0m ×2 + 11.20sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.20sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.23sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORweb_video_auth_proxy-23process has died [pid 9104, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.24sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.26sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sERRORweb_bridge_auth_proxy-22process has died [pid 9103, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.26sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.27sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.28sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.29sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.31sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.32sINFOvideo_server-21process has finished cleanly [pid 9102] ×2 + 11.32sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.33sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.35sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.36sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.37sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.39sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.40sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.41sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.43sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.44sINFOcontroller_managerShutdown request received.... + 11.44sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.44sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.44sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.44sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.44sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.44sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.44sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.44sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.44sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.44sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.44sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.44sINFOcontroller_managerShutting down the controller manager. + 11.44sINFOvideo_server2026/08/19 14:10:38 INF shutting down gracefully ×2 + 11.44sINFOvideo_server2026/08/19 14:10:38 INF [WebRTC] closing ×2 + 11.44sINFOvideo_server2026/08/19 14:10:38 INF [RTSP] closing ×2 + 11.44sINFOvideo_server2026/08/19 14:10:38 INF waiting for running hooks ×2 + 11.44sERRORmove_group-9process has died [pid 9027, 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_0xf2tcje --params-file /tmp/launch_params_130lhlu6 --params-file /tmp/launch_params_ixh6lvbh --params-file /tmp/launch_params_kxzeex84 --params-file /tmp/launch_params_ept5jgn4 --params-file /tmp/launch_params_fow9bo88']. ×2 + 11.44sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.44sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.44sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.44sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.44sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.44sERRORmove_groupStack trace (most recent call last) in thread 9372: ×2 + 11.45sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.45sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6db9474b63, in __clone ×2 + 11.45sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6db93e7b83, in ×2 + 11.45sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6db9679db3, in ×2 + 11.45sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f6db9dea637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.45sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6db9a0b620, in rclcpp::Rate::sleep() ×2 + 11.45sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6db994dd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.45sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6db990f087, in ×2 + 11.45sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6db9648390, in __cxa_throw ×2 + 11.45sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6db9632a54, in std::terminate() ×2 + 11.45sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6db96480d9, in ×2 + 11.45sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6db9632ff4, in ×2 + 11.45sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6db93738fe, in abort ×2 + 11.45sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6db939027d, in raise ×2 + 11.45sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6db93e9c0c, in pthread_kill ×2 + 11.45sERRORmove_groupAborted (Signal sent by tkill() 9027 0) ×2 + 11.45sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.45sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.45sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.45sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.45sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.45sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.45sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.45sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.45sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.45sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.45sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.45sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.45sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.45sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.64sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.65sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.65sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.32sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9101] ×2 + 12.33sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.41sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9031] ×2 + 12.41sINFOui_teleop_bridge-18process has finished cleanly [pid 9036] ×2 + 12.42sINFOexecute_objective_bridge-17process has finished cleanly [pid 9035] ×2 + 12.42sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9030] ×2 + 12.42sINFOcomponent_container_mt-16process has finished cleanly [pid 9034] ×2 + 12.46sINFOparameter_manager_node-10process has finished cleanly [pid 9028] ×2 + 12.46sINFOwaypoint_manager_node-11process has finished cleanly [pid 9029] ×2 + 12.48sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.61sINFOobjective_server_node[0;m[2026-08-19 14:10:39.964] [moveit_pro_license] [info] ×2 + 12.61sINFOobjective_server_node************************************************* ×4 + 12.61sINFOobjective_server_node* MoveIt Pro License ×2 + 12.61sINFOobjective_server_node* Application has successfully terminated ×2 + 13.08sINFOobjective_server_node_main-14process has finished cleanly [pid 9032] ×2 + 13.08sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.53sINFOcomponent_container_mt-15process has finished cleanly [pid 9033] ×2 + 13.73sINFOweb_bridge-19process has finished cleanly [pid 9037] ×2 + 13.73sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.08sINFOros2_control_node-1process has finished cleanly [pid 8990] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 63 warnings · 243 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.72sERRORobjective_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: 1787148615.34732819 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×14 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×7 + 2.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×14 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994472 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994472 ms (missed cycles : 4).[0m ×2 + 8.23sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 8.23sINFOros2_control_node[2026-08-19 14:10:20.861] [info] Received new action goal ×2 + 8.23sINFOros2_control_node[2026-08-19 14:10:20.862] [info] Accepted new action goal ×2 + 8.23sINFOros2_control_node[2026-08-19 14:10:20.862] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254574 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254574 ms (missed cycles : 2).[0m ×2 + 8.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224052 ms (missed cycles : 5). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.224052 ms (missed cycles : 5).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206023 ms (missed cycles : 4). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206023 ms (missed cycles : 4).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440944 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440944 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824231 ms (missed cycles : 2). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824231 ms (missed cycles : 2).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3).[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6).[0m ×2 + 14.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 15.22sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Got request to cancel active goal. ×2 + 15.22sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Canceling active goal... ×2 + 15.22sERRORobjective_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: 1787148627.85549903 seconds ×3 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3).[0m ×2 + 15.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148628.44804430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5).[0m ×2 + 16.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148629.58818603 seconds ×3 + 17.55sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787148630.18491459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.55sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.55sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.56sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.56sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787148630.18688130 seconds ×3 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 0.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 0.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.19sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.24sWARNros2_control_nodeCamera render tick took 1.93 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 + 0.77sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 1.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.07sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.07sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.38sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.40sINFOros2_control_node[2026-08-19 14:05:42.145] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-08-19 14:05:42.145] [info] Accepted new action goal ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797061 ms (missed cycles : 5). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.797061 ms (missed cycles : 5).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866643 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.866643 ms (missed cycles : 5).[0m ×2 + 7.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435723 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435723 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710759 ms (missed cycles : 6). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.710759 ms (missed cycles : 6).[0m ×2 + 10.13sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 10.15sINFOros2_control_node[2026-08-19 14:05:45.895] [info] Received new action goal ×2 + 10.15sINFOros2_control_node[2026-08-19 14:05:45.895] [info] Accepted new action goal ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357334 ms (missed cycles : 4). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357334 ms (missed cycles : 4).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 13.46sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 13.46sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.48sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 13.48sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 13.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 14.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.19sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 14.19sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 14.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787148349.95713377 seconds ×3 + 14.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 15.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.77sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 15.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.78sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 15.78sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955004 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.955004 ms (missed cycles : 2).[0m ×2 + 7.35sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.35sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.35sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×4 + 7.64sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.69sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 1 iterations (0.00323401 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.696881 ms (missed cycles : 5). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.696881 ms (missed cycles : 5).[0m ×2 + 7.90sINFOobjective_server_nodeFound path in 1 iterations (0.0072244 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 8.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.39sINFOros2_control_node[2026-08-19 14:06:23.588] [info] Received new action goal ×2 + 8.39sINFOros2_control_node[2026-08-19 14:06:23.588] [info] Accepted new action goal ×2 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694283 ms (missed cycles : 5). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694283 ms (missed cycles : 5).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.147064 ms (missed cycles : 5). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.147064 ms (missed cycles : 5).[0m ×2 + 10.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.82sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.09sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.09sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.10sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787148386.31552911 seconds ×3 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275719 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275719 ms (missed cycles : 2).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228563 ms (missed cycles : 4). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228563 ms (missed cycles : 4).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863351 ms (missed cycles : 3). + 13.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863351 ms (missed cycles : 3).[0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960823 ms (missed cycles : 5). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960823 ms (missed cycles : 5).[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787148390.07673311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 15.07sINFOros2_control_node[2026-08-19 14:06:30.270] [info] Received new action goal ×2 + 15.08sINFOros2_control_node[2026-08-19 14:06:30.270] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921422 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921422 ms (missed cycles : 2).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923406 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923406 ms (missed cycles : 3).[0m ×2 + 16.31sWARNros2_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 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432165 ms (missed cycles : 6). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432165 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391057 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391057 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863016 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863016 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135660 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135660 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294252 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294252 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787148604.40117908 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.11sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787148605.00557137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.25sINFOros2_control_node[2026-08-19 14:10:05.139] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-19 14:10:05.139] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039341 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039341 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112254 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112254 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015937 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015937 ms (missed cycles : 2).[0m ×2 + 7.35sWARNros2_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 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147629 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147629 ms (missed cycles : 4).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086580 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086580 ms (missed cycles : 4).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097841 ms (missed cycles : 4). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097841 ms (missed cycles : 4).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 14.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.45sERRORobjective_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: 1787148615.34732819 seconds ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 15.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.14sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.14sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 15.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOobjective_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 + 15.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 16.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.64sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 16.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.65sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 16.65sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 107 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181123 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.181123 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765081 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765081 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891066 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.891066 ms (missed cycles : 4).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865748 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865748 ms (missed cycles : 3).[0m ×2 + 9.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919653 ms (missed cycles : 3). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919653 ms (missed cycles : 3).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055383 ms (missed cycles : 3). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055383 ms (missed cycles : 3).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143347 ms (missed cycles : 4). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143347 ms (missed cycles : 4).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919437 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919437 ms (missed cycles : 2).[0m ×2 + 14.15sERRORobjective_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: 1787148593.84699821 seconds ×3 + 14.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787148594.47238374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705053 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705053 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 15.08sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.09sINFOros2_control_node[2026-08-19 14:09:54.790] [info] Received new action goal ×2 + 15.09sINFOros2_control_node[2026-08-19 14:09:54.790] [info] Accepted new action goal ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978754 ms (missed cycles : 5). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978754 ms (missed cycles : 5).[0m ×2 + 16.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164990 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164990 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 58 warnings · 165 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.28sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.29sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1787148386.31552911 seconds ×3 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275719 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275719 ms (missed cycles : 2).[0m ×2 + 1.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228563 ms (missed cycles : 4). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.228563 ms (missed cycles : 4).[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863351 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.863351 ms (missed cycles : 3).[0m ×2 + 3.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.43sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.43sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960823 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.960823 ms (missed cycles : 5).[0m ×2 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1787148390.07673311 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.26sINFOros2_control_node[2026-08-19 14:06:30.270] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-19 14:06:30.270] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921422 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921422 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923406 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923406 ms (missed cycles : 3).[0m ×2 + 5.49sWARNros2_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 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432165 ms (missed cycles : 6). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.432165 ms (missed cycles : 6).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818296 ms (missed cycles : 4). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.818296 ms (missed cycles : 4).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664061 ms (missed cycles : 4). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.664061 ms (missed cycles : 4).[0m ×2 + 8.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.61sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (5.94e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.97sINFOobjective_server_nodeFound path in 0 iterations (7.59e-07 s). ×2 + 9.00sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.03sINFOobjective_server_nodeFound path in 1 iterations (0.00272207 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.16sINFOobjective_server_nodeFound path in 1 iterations (0.00436932 s). ×2 + 9.25sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.41sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.51sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737474 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737474 ms (missed cycles : 2).[0m ×2 + 9.66sINFOros2_control_node[2026-08-19 14:06:35.673] [info] Received new action goal ×2 + 9.66sINFOros2_control_node[2026-08-19 14:06:35.673] [info] Accepted new action goal ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689464 ms (missed cycles : 6). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689464 ms (missed cycles : 6).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828394 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828394 ms (missed cycles : 3).[0m ×2 + 12.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 12.36sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.36sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 12.36sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.37sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×4 + 12.42sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.45sINFOobjective_server_nodeFound path in 1 iterations (0.00337597 s). ×2 + 12.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.64sINFOros2_control_node[2026-08-19 14:06:38.652] [info] Received new action goal ×2 + 12.64sINFOros2_control_node[2026-08-19 14:06:38.652] [info] Accepted new action goal ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451312 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451312 ms (missed cycles : 3).[0m ×2 + 13.07sINFOros2_control_node[2026-08-19 14:06:39.085] [info] Received new action goal ×2 + 13.07sINFOros2_control_node[2026-08-19 14:06:39.085] [info] Accepted new action goal ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912365 ms (missed cycles : 3). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912365 ms (missed cycles : 3).[0m ×2 + 14.32sINFOobjective_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 + 14.33sINFOros2_control_node[2026-08-19 14:06:40.347] [info] Got request to cancel active goal. ×2 + 14.33sINFOros2_control_node[2026-08-19 14:06:40.347] [info] Canceling active goal... ×2 + 14.34sERRORobjective_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: 1787148400.35684037 seconds ×3 + 14.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787148401.00689960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902088 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902088 ms (missed cycles : 3).[0m ×2 + 15.17sINFOros2_control_node[2026-08-19 14:06:41.180] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-08-19 14:06:41.180] [info] Accepted new action goal ×2 + 15.81sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830898 ms (missed cycles : 5). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830898 ms (missed cycles : 5).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414134 ms (missed cycles : 3). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414134 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787148366.74298978 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787148367.37139750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787148367.46151805 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787148368.10815048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.38sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4).[0m ×2 + 7.72sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.73sINFOros2_control_node[2026-08-19 14:06:11.582] [info] Received new action goal ×2 + 7.73sINFOros2_control_node[2026-08-19 14:06:11.582] [info] Accepted new action goal ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884970 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884970 ms (missed cycles : 3).[0m ×2 + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166247 ms (missed cycles : 4). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166247 ms (missed cycles : 4).[0m ×2 + 9.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 10.06sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.07sINFOros2_control_node[2026-08-19 14:06:13.919] [info] Received new action goal ×2 + 10.07sINFOros2_control_node[2026-08-19 14:06:13.919] [info] Accepted new action goal ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857881 ms (missed cycles : 3). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857881 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 12.42sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 12.43sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 12.43sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 14.49sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 14.50sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 14.51sERRORobjective_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: 1787148378.36091852 seconds ×3 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.36sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 15.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.37sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 15.37sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 15.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 54 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589393 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046881 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046881 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924589 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924589 ms (missed cycles : 3).[0m ×2 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787148572.08876967 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOros2_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 2.099049 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099049 ms (missed cycles : 2).[0m ×2 + 3.35sWARNros2_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 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787148572.76751161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-08-19 14:09:32.991] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-19 14:09:32.991] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991619 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991619 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321101 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321101 ms (missed cycles : 5).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.958553 ms (missed cycles : 8). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.958553 ms (missed cycles : 8).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729525 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.729525 ms (missed cycles : 4).[0m ×2 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 1 iterations (0.00379692 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.42sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.46sINFOros2_control_node[2026-08-19 14:09:37.360] [info] Received new action goal ×2 + 8.46sINFOros2_control_node[2026-08-19 14:09:37.361] [info] Accepted new action goal ×2 + 8.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761726 ms (missed cycles : 5). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761726 ms (missed cycles : 5).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794085 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794085 ms (missed cycles : 2).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 10.93sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 10.93sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 12.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.84sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 12.84sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 12.92sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.95sINFOobjective_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 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 13.96sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 13.96sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 13.97sERRORobjective_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: 1787148582.87234592 seconds ×3 + 14.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 14.63sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 14.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.82sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 14.82sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 16.73sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 55 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919653 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055383 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055383 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143347 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143347 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919437 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919437 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1787148593.84699821 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787148594.47238374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705053 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705053 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.52sINFOros2_control_node[2026-08-19 14:09:54.790] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 14:09:54.790] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978754 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978754 ms (missed cycles : 5).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164990 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164990 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015206 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015206 ms (missed cycles : 4).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796373 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796373 ms (missed cycles : 2).[0m ×2 + 8.54sINFOros2_control_node[2026-08-19 14:09:58.810] [info] Received new action goal ×2 + 8.54sINFOros2_control_node[2026-08-19 14:09:58.810] [info] Accepted new action goal ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342399 ms (missed cycles : 5). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.342399 ms (missed cycles : 5).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391057 ms (missed cycles : 4). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391057 ms (missed cycles : 4).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863016 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863016 ms (missed cycles : 2).[0m ×2 + 12.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135660 ms (missed cycles : 4). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135660 ms (missed cycles : 4).[0m ×2 + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294252 ms (missed cycles : 2). + 13.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294252 ms (missed cycles : 2).[0m ×2 + 14.13sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787148604.40117908 seconds ×3 + 14.73sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787148605.00557137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 14.85sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.86sINFOros2_control_node[2026-08-19 14:10:05.139] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-08-19 14:10:05.139] [info] Accepted new action goal ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039341 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039341 ms (missed cycles : 4).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112254 ms (missed cycles : 3). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112254 ms (missed cycles : 3).[0m ×2 + 16.77sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015937 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015937 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 6.9s | 43 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787148412.92319012 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 + 0.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.05sINFOros2_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 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787148412.99331474 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787148413.59513879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787148415.72528172 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927404 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927404 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015554 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015554 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787148417.32655597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707657 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707657 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_node[2026-08-19 14:06:58.888] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730482 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730482 ms (missed cycles : 5).[0m ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-19 14:06:59.620760136 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-19 14:06:59.620792895 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2).[0m ×2 + 7.74sINFOobjective_server_node[2026-08-19 14:07:00.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.23sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153895871 [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 + 8.23sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153926081 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.39sINFOobjective_server_node[2026-08-19 14:07:01.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2).[0m ×2 + 8.45sINFOobjective_server_node[0;93m2026-08-19 14:07:01.369158332 [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 + 8.45sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372190329 [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 + 8.45sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372221897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.51sINFOobjective_server_node[2026-08-19 14:07:01.437] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.774777150 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 8.88sINFOobjective_server_node[0;93m2026-08-19 14:07:01.800985636 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.88sINFOobjective_server_node[0;93m2026-08-19 14:07:01.801017092 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4).[0m ×2 + 9.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2).[0m ×2 + 10.66sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787148423.58391833 seconds ×3 + 11.34sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787148424.26303697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.43sINFOobjective_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 + 11.44sINFOobjective_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 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3).[0m ×2 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 11.72sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 11.77sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Received new action goal ×2 + 11.77sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Accepted new action goal ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 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 5.592243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592243 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333451 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333451 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553719 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553719 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787148412.26659465 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575612 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575612 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787148412.92319012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787148412.99331474 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787148413.59513879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.58sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787148415.72528172 seconds ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927404 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927404 ms (missed cycles : 2).[0m ×2 + 7.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015554 ms (missed cycles : 4). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015554 ms (missed cycles : 4).[0m ×2 + 8.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787148417.32655597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707657 ms (missed cycles : 3). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707657 ms (missed cycles : 3).[0m ×2 + 9.75sINFOobjective_server_node[2026-08-19 14:06:58.888] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730482 ms (missed cycles : 5). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730482 ms (missed cycles : 5).[0m ×2 + 10.48sINFOobjective_server_node[0;93m2026-08-19 14:06:59.620760136 [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 + 10.48sINFOobjective_server_node[0;93m2026-08-19 14:06:59.620792895 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 29 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440944 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824231 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824231 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6).[0m ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Canceling active goal... ×2 + 3.61sERRORobjective_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: 1787148627.85549903 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148628.44804430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148629.58818603 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787148630.18491459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787148630.18688130 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2).[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787148630.91956258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787148630.92063785 seconds ×3 + 7.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787148631.51611257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916069 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916069 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 34 warnings · 563 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.01sINFOlaunch_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 14:05:31.207] [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 + 0.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.25sINFOobjective_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 + 0.25sINFOobjective_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::ConverterBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.26sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.72sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.72sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.72sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.72sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.72sWARNros2_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 + 0.72sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.72sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.72sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.72sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.72sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.72sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.72sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.72sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.72sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.72sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.72sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.73sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.73sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.73sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.73sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.73sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.73sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.73sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.73sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.73sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.73sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.73sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.73sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.73sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.73sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.73sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.75sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.75sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.88sINFOcomponent_container_mt[2026-08-19 14:05:31.951] [moveit_pro_license] [info] ×2 + 0.88sINFOcomponent_container_mt************************************************* ×4 + 0.88sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.88sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.91sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.92sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.92sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.93sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.93sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.93sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.93sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103928 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103928 ms (missed cycles : 2).[0m ×2 + 1.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.23sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.26sINFOros2-4process has finished cleanly [pid 8993] ×2 + 1.35sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.35sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.40sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.40sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.40sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.40sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.41sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.43sINFOros2_control_node[2026-08-19 14:05:32.508] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.43sINFOros2_control_node[2026-08-19 14:05:32.508] [info] Controller state will be published at 50 Hz. ×2 + 1.44sINFOros2_control_node[2026-08-19 14:05:32.518] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.71sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.71sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.71sINFOros2-6process has finished cleanly [pid 8995] ×2 + 1.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.71sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.72sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.72sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.78sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.78sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.78sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.78sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.79sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.79sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.79sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.79sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.79sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.79sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.82sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.82sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.11sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.11sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.11sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4).[0m ×2 + 2.14sINFOros2-5process has finished cleanly [pid 8994] ×2 + 2.18sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 2.18sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 2.23sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.23sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.23sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.23sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.26sINFOros2_control_node[2026-08-19 14:05:33.340] [info] Controller state will be published at 10 Hz. ×2 + 2.27sINFOros2_control_node[2026-08-19 14:05:33.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.39sWARNobjective_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 + 2.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.61sINFOros2-7process has finished cleanly [pid 8996] ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 2.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 2.66sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.66sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.67sINFOforce_torque_sensor_broadcasterconfigure successful + 2.67sINFOros2_control_nodeconfigure successful[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.67sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.68sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.68sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.85sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.97sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.97sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.97sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.97sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.98sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 2.98sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 2.99sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.99sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.99sINFOros2-2process has finished cleanly [pid 8991] ×2 + 3.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.36sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.36sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.36sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.36sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 3.39sINFOros2-3process has finished cleanly [pid 8992] ×2 + 3.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 3.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 3.49sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.49sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.50sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.50sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.52sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 3.52sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.87sINFOros2-8process has finished cleanly [pid 8997] ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 4.91sWARNros2_control_nodeCamera render tick took 1.93 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 6.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 6.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 7.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 7.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357334 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357334 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.83sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 2.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.85sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 3.58sERRORobjective_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: 1787148349.95713377 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 31 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 1.53sINFOobjective_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 + 1.54sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Got request to cancel active goal. ×2 + 1.54sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Canceling active goal... ×2 + 1.55sERRORobjective_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: 1787148627.85549903 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_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 3.387736 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148628.44804430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148629.58818603 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787148630.18491459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.88sINFOobjective_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 + 3.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787148630.18688130 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787148630.91956258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787148630.92063785 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787148631.51611257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916069 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916069 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436176 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436176 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787148632.63624191 seconds ×3 + 6.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965309 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965309 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 5.592243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592243 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333451 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333451 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553719 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553719 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787148412.26659465 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575612 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575612 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787148412.92319012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787148412.99331474 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787148413.59513879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.58sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787148415.72528172 seconds ×3 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927404 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927404 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-19 14:06:03.434] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-19 14:06:03.434] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3).[0m ×2 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Accepted new action goal ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5).[0m ×2 + 3.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787148366.74298978 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787148367.37139750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 4.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787148367.46151805 seconds ×3 + 4.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787148368.10815048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.78sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.79sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.80sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2).[0m ×2 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4).[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 2.104919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787148615.34732819 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.99sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 27 warnings · 448 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.09sINFOros2_control_node[2026-08-19 14:05:32.508] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.09sINFOros2_control_node[2026-08-19 14:05:32.508] [info] Controller state will be published at 50 Hz. ×2 + 0.10sINFOros2_control_node[2026-08-19 14:05:32.518] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.37sINFOros2-6process has finished cleanly [pid 8995] ×2 + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4).[0m ×2 + 0.79sINFOros2-5process has finished cleanly [pid 8994] ×2 + 0.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-08-19 14:05:33.340] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-19 14:05:33.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOros2-7process has finished cleanly [pid 8996] ×2 + 1.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOforce_torque_sensor_broadcasterconfigure successful + 1.32sINFOros2_control_nodeconfigure successful[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.64sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.64sINFOros2-2process has finished cleanly [pid 8991] ×2 + 1.70sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.70sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.70sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.70sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.71sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2-3process has finished cleanly [pid 8992] ×2 + 2.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 2.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 2.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 2.18sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sINFOros2-8process has finished cleanly [pid 8997] ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 3.57sWARNros2_control_nodeCamera render tick took 1.93 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 + 4.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 7.02sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.17sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 7.17sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_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 + 2.72sERRORobjective_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: 1787148615.34732819 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6).[0m ×2 + 1.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.53sINFOobjective_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 + 1.54sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Got request to cancel active goal. ×2 + 1.54sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Canceling active goal... ×2 + 1.55sERRORobjective_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: 1787148627.85549903 seconds ×3 + 1.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.57sINFOros2_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 3.387736 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148628.44804430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148629.58818603 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787148630.18491459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.88sINFOobjective_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 + 3.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787148630.18688130 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1787148630.91956258 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1787148630.92063785 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1787148631.51611257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916069 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916069 ms (missed cycles : 2).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436176 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436176 ms (missed cycles : 2).[0m ×2 + 6.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1787148632.63624191 seconds ×3 + 6.38sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.1s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-19 14:07:00.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153895871 [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 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153926081 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sINFOobjective_server_node[2026-08-19 14:07:01.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.369158332 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372190329 [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 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372221897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.13sINFOobjective_server_node[2026-08-19 14:07:01.437] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-19 14:07:01.774777150 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.800985636 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.801017092 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4).[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787148423.58391833 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787148424.26303697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5).[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 5.357334 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357334 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.83sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 2.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.85sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 3.58sERRORobjective_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: 1787148349.95713377 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 2.48sERRORobjective_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: 1787148349.95713377 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 2.48sERRORobjective_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: 1787148349.95713377 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 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 | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787148412.92319012 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 + 0.03sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_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 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787148412.99331474 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2).[0m ×2 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787148413.59513879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1787148415.72528172 seconds ×3 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927404 ms (missed cycles : 2). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927404 ms (missed cycles : 2).[0m ×2 + 3.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015554 ms (missed cycles : 4). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015554 ms (missed cycles : 4).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1787148417.32655597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707657 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707657 ms (missed cycles : 3).[0m ×2 + 5.97sINFOobjective_server_node[2026-08-19 14:06:58.888] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730482 ms (missed cycles : 5). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730482 ms (missed cycles : 5).[0m ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-19 14:06:59.620760136 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-19 14:06:59.620792895 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 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 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-19 14:07:53.658] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-19 14:07:53.658] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785583 ms (missed cycles : 4). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785583 ms (missed cycles : 4).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282753 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.282753 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686572 ms (missed cycles : 2). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686572 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1787148477.26361799 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623210 ms (missed cycles : 6). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.623210 ms (missed cycles : 6).[0m ×2 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_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 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1787148477.87090015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-08-19 14:07:58.044] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-19 14:07:58.044] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648525 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648525 ms (missed cycles : 6).[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 + 5.77sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_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 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761370 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761370 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 5.589393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589393 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046881 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046881 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924589 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924589 ms (missed cycles : 3).[0m ×2 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787148572.08876967 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_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 2.099049 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099049 ms (missed cycles : 2).[0m ×2 + 3.35sWARNros2_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 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787148572.76751161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-08-19 14:09:32.991] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-19 14:09:32.991] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991619 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991619 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321101 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321101 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 2.104919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787148615.34732819 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.99sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357334 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357334 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.83sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 2.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.85sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 2.85sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 3.56sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 3.58sERRORobjective_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: 1787148349.95713377 seconds ×3 + 3.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 2.48sERRORobjective_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: 1787148349.95713377 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.118144 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988439 ms (missed cycles : 3).[0m ×2 + 1.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-08-19 14:05:49.225] [info] Accepted new action goal ×2 + 1.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.121530 ms (missed cycles : 5).[0m ×2 + 2.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Got request to cancel active goal. ×2 + 2.46sINFOros2_control_node[2026-08-19 14:05:49.941] [info] Canceling active goal... ×2 + 2.48sERRORobjective_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: 1787148349.95713377 seconds ×3 + 2.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1787148350.59588480 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1787148350.70600200 seconds ×3 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891397 ms (missed cycles : 5).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1787148351.33267641 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (7.44e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-19 14:05:51.528] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074547 ms (missed cycles : 2).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.765038 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787148366.74298978 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787148367.37139750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787148367.46151805 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787148368.10815048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.38sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787148366.74298978 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787148367.37139750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787148367.46151805 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787148368.10815048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.38sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787148366.74298978 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787148367.37139750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787148367.46151805 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787148368.10815048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.38sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787148366.74298978 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787148367.37139750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787148367.46151805 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787148368.10815048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.38sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.832869 ms (missed cycles : 5).[0m ×2 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982541 ms (missed cycles : 3).[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-19 14:06:05.356] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817646 ms (missed cycles : 5).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1787148366.74298978 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.90sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226060 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1787148367.37139750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sWARNros2_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 + 3.61sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1787148367.46151805 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1787148368.10815048 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.38sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-19 14:06:08.232] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.940664 ms (missed cycles : 5).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315500 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754276 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.07sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Received new action goal ×2 + 1.08sINFOros2_control_node[2026-08-19 14:06:16.279] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837866 ms (missed cycles : 3).[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.629053 ms (missed cycles : 4).[0m ×2 + 3.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-19 14:06:18.348] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1787148378.36091852 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735229 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1787148379.01063824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:06:19.214] [info] Accepted new action goal ×2 + 4.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.208145 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003400 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689464 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.689464 ms (missed cycles : 6).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828394 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.828394 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.62sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×4 + 1.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.70sINFOobjective_server_nodeFound path in 1 iterations (0.00337597 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.89sINFOros2_control_node[2026-08-19 14:06:38.652] [info] Received new action goal ×2 + 1.89sINFOros2_control_node[2026-08-19 14:06:38.652] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451312 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451312 ms (missed cycles : 3).[0m ×2 + 2.32sINFOros2_control_node[2026-08-19 14:06:39.085] [info] Received new action goal ×2 + 2.32sINFOros2_control_node[2026-08-19 14:06:39.085] [info] Accepted new action goal ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912365 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912365 ms (missed cycles : 3).[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 + 3.58sINFOros2_control_node[2026-08-19 14:06:40.347] [info] Got request to cancel active goal. ×2 + 3.58sINFOros2_control_node[2026-08-19 14:06:40.347] [info] Canceling active goal... ×2 + 3.59sERRORobjective_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: 1787148400.35684037 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1787148401.00689960 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902088 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902088 ms (missed cycles : 3).[0m ×2 + 4.41sINFOros2_control_node[2026-08-19 14:06:41.180] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-19 14:06:41.180] [info] Accepted new action goal ×2 + 5.06sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830898 ms (missed cycles : 5). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.830898 ms (missed cycles : 5).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414134 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414134 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592243 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592243 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333451 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333451 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553719 ms (missed cycles : 3). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553719 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1787148412.26659465 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575612 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575612 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1787148412.92319012 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1787148412.99331474 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112251 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1787148413.59513879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.57sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.58sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Received new action goal ×2 + 4.58sINFOros2_control_node[2026-08-19 14:06:53.719] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858570 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-19 14:07:00.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153895871 [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 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153926081 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sINFOobjective_server_node[2026-08-19 14:07:01.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.369158332 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372190329 [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 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372221897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.13sINFOobjective_server_node[2026-08-19 14:07:01.437] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-19 14:07:01.774777150 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.800985636 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.801017092 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4).[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787148423.58391833 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787148424.26303697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-19 14:07:00.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153895871 [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 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153926081 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sINFOobjective_server_node[2026-08-19 14:07:01.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.369158332 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372190329 [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 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372221897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.13sINFOobjective_server_node[2026-08-19 14:07:01.437] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-19 14:07:01.774777150 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.800985636 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.801017092 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4).[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787148423.58391833 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787148424.26303697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-19 14:07:00.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153895871 [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 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153926081 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sINFOobjective_server_node[2026-08-19 14:07:01.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.369158332 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372190329 [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 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372221897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.13sINFOobjective_server_node[2026-08-19 14:07:01.437] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-19 14:07:01.774777150 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.800985636 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.801017092 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4).[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787148423.58391833 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787148424.26303697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867709 ms (missed cycles : 2).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-19 14:07:00.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153895871 [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 + 0.85sINFOobjective_server_node[0;93m2026-08-19 14:07:01.153926081 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.01sINFOobjective_server_node[2026-08-19 14:07:01.316] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849299 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.369158332 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372190329 [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 + 1.06sINFOobjective_server_node[0;93m2026-08-19 14:07:01.372221897 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.13sINFOobjective_server_node[2026-08-19 14:07:01.437] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.47sINFOobjective_server_node[0;93m2026-08-19 14:07:01.774777150 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.800985636 [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 + 1.49sINFOobjective_server_node[0;93m2026-08-19 14:07:01.801017092 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.065405 ms (missed cycles : 4).[0m ×2 + 2.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000502 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1787148423.58391833 seconds ×3 + 3.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1787148424.26303697 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.06sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217107 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Received new action goal ×2 + 4.38sINFOros2_control_node[2026-08-19 14:07:04.690] [info] Accepted new action goal ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.643003 ms (missed cycles : 3).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.929513 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 · 2583 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×419 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×419 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×838 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×838 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676871 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676871 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883581 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883581 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802934 ms (missed cycles : 6). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802934 ms (missed cycles : 6).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752789 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752789 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787148543.78622890 seconds ×3 + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393172 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393172 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787148544.42606354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.005903 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-19 14:09:04.681] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-19 14:09:04.681] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111236 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111236 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185515 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185515 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2583 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×419 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×419 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×838 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×838 + 0.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676871 ms (missed cycles : 2). + 0.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676871 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883581 ms (missed cycles : 2). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883581 ms (missed cycles : 2).[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802934 ms (missed cycles : 6). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.802934 ms (missed cycles : 6).[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752789 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752789 ms (missed cycles : 2).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.97sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.98sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1787148543.78622890 seconds ×3 + 3.98sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393172 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393172 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1787148544.42606354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOobjective_server_nodeFound path in 5 iterations (0.005903 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.87sINFOros2_control_node[2026-08-19 14:09:04.681] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-19 14:09:04.681] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111236 ms (missed cycles : 5). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.111236 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185515 ms (missed cycles : 3). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185515 ms (missed cycles : 3).[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 5.589393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589393 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046881 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046881 ms (missed cycles : 4).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924589 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.924589 ms (missed cycles : 3).[0m ×2 + 2.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1787148572.08876967 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_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 2.099049 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099049 ms (missed cycles : 2).[0m ×2 + 3.35sWARNros2_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 + 3.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1787148572.76751161 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-08-19 14:09:32.991] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-08-19 14:09:32.991] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991619 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991619 ms (missed cycles : 3).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321101 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321101 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.859507 ms (missed cycles : 7).[0m ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-19 14:09:39.833] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430482 ms (missed cycles : 6).[0m ×2 + 1.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Received new action goal ×2 + 2.05sINFOros2_control_node[2026-08-19 14:09:41.741] [info] Accepted new action goal ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845319 ms (missed cycles : 3).[0m ×2 + 2.13sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836491 ms (missed cycles : 2).[0m ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-19 14:09:42.857] [info] Canceling active goal... ×2 + 3.18sERRORobjective_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: 1787148582.87234592 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1787148583.53657007 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-19 14:09:43.721] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.198011 ms (missed cycles : 7).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558147 ms (missed cycles : 2).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919653 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919653 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055383 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055383 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143347 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143347 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919437 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.919437 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sERRORobjective_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: 1787148593.84699821 seconds ×3 + 3.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.61sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.61sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×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 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.20sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1787148594.47238374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705053 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705053 ms (missed cycles : 2).[0m ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (6.58e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.52sINFOros2_control_node[2026-08-19 14:09:54.790] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-19 14:09:54.790] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978754 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.978754 ms (missed cycles : 5).[0m ×2 + 5.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164990 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164990 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391057 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391057 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863016 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863016 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135660 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.135660 ms (missed cycles : 4).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294252 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294252 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1787148604.40117908 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1787148605.00557137 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.25sINFOros2_control_node[2026-08-19 14:10:05.139] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-19 14:10:05.139] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039341 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039341 ms (missed cycles : 4).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112254 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112254 ms (missed cycles : 3).[0m ×2 + 6.15sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015937 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015937 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787148615.34732819 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.99sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787148615.34732819 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.99sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104919 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_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 `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1787148615.34732819 seconds ×3 + 3.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.50sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 5.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.17sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.99sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 5.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 6.00sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_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 + 2.72sERRORobjective_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: 1787148615.34732819 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_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 + 2.72sERRORobjective_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: 1787148615.34732819 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 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 2.770695 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770695 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263071 ms (missed cycles : 4).[0m ×2 + 1.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995493 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_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 + 2.72sERRORobjective_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: 1787148615.34732819 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.79sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887701 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1787148616.00400281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1787148616.09412861 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1787148616.68980432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.08sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1787148616.71275139 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505814 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1787148617.42745447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-19 14:10:17.541] [info] Accepted new action goal ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.876318 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462603 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440944 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824231 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824231 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6).[0m ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Canceling active goal... ×2 + 3.61sERRORobjective_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: 1787148627.85549903 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148628.44804430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148629.58818603 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787148630.18491459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787148630.18688130 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440944 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440944 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824231 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824231 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391076 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.757871 ms (missed cycles : 6).[0m ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Got request to cancel active goal. ×2 + 3.60sINFOros2_control_node[2026-08-19 14:10:27.847] [info] Canceling active goal... ×2 + 3.61sERRORobjective_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: 1787148627.85549903 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387736 ms (missed cycles : 3).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1787148628.44804430 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750194 ms (missed cycles : 5).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1787148629.58818603 seconds ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1787148630.18491459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.94sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.94sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.94sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1787148630.18688130 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849182 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.7s | 40 warnings · 621 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-19-14-05-25-548796-3089ea622268-8942 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.99sINFOros2_control_node-1process started with pid [8990] ×2 + 1.99sINFOmove_group-9process started with pid [9027] ×2 + 1.99sINFOparameter_manager_node-10process started with pid [9028] ×2 + 1.99sINFOwaypoint_manager_node-11process started with pid [9029] ×2 + 1.99sINFOmove_joint_resampler_node-12process started with pid [9030] ×2 + 1.99sINFOmove_end_effector_resampler_node-13process started with pid [9031] ×2 + 1.99sINFOobjective_server_node_main-14process started with pid [9032] ×2 + 1.99sINFOcomponent_container_mt-15process started with pid [9033] ×2 + 1.99sINFOcomponent_container_mt-16process started with pid [9034] ×2 + 1.99sINFOexecute_objective_bridge-17process started with pid [9035] ×2 + 1.99sINFOui_teleop_bridge-18process started with pid [9036] ×2 + 1.99sINFOweb_bridge-19process started with pid [9037] ×2 + 1.99sINFOtf2_web_republisher_node-20process started with pid [9101] ×2 + 2.00sINFOvideo_server-21process started with pid [9102] ×2 + 2.00sINFOweb_bridge_auth_proxy-22process started with pid [9103] ×2 + 2.00sINFOweb_video_auth_proxy-23process started with pid [9104] ×2 + 2.02sINFOros2-2process started with pid [8991] ×2 + 2.02sINFOros2-3process started with pid [8992] ×2 + 2.02sINFOros2-4process started with pid [8993] ×2 + 2.02sINFOros2-5process started with pid [8994] ×2 + 2.02sINFOros2-6process started with pid [8995] ×2 + 2.02sINFOros2-7process started with pid [8996] ×2 + 2.02sINFOros2-8process started with pid [8997] ×2 + 2.03sINFOcontroller_managerReceived robot description from topic. + 2.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.08sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.08sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.08sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.08sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.08sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.08sWARNros2_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 + 2.08sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576610 ms (missed cycles : 4). + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576610 ms (missed cycles : 4).[0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.27sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.44sINFOvideo_server2026/08/19 14:05:28 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.45sINFOvideo_server2026/08/19 14:05:28 INF configuration loaded from /tmp/moveit-webrtc-axfhoqzk/mediamtx.yml ×2 + 2.45sINFOvideo_server2026/08/19 14:05:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.45sINFOvideo_server2026/08/19 14:05:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.09sINFOmove_group[2026-08-19 14:05:29.400] [moveit_pro_license] [info] ×2 + 3.09sINFOmove_group************************************************* ×4 + 3.09sINFOmove_group* MoveIt Pro License ×2 + 3.09sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579721 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.579721 ms (missed cycles : 4).[0m ×2 + 3.23sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.23sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.23sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.23sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.28sINFOros2_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 + 3.28sINFOros2_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 + 3.42sINFOwaypoint_manager_node[2026-08-19 14:05:29.733] [moveit_pro_license] [info] ×2 + 3.42sINFOwaypoint_manager_node************************************************* ×4 + 3.42sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.42sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.56sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.60sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.63sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.64sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.64sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.64sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.64sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.64sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.65sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.80sINFOmove_group ×4 + 3.80sINFOmove_group[92mYou can start planning now![0m ×2 + 3.91sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.91sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324070 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324070 ms (missed cycles : 5).[0m ×2 + 4.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.90sINFOobjective_server_node[2026-08-19 14:05:31.207] [moveit_pro_license] [info] ×2 + 4.90sINFOobjective_server_node************************************************* ×4 + 4.90sINFOobjective_server_node* MoveIt Pro License ×2 + 4.90sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.02sINFOobjective_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 + 5.02sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.03sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.03sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.03sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.03sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.03sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.03sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.03sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.03sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.49sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.49sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.49sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.49sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.49sWARNros2_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 + 5.49sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 5.49sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 5.49sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.49sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.49sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 5.49sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 5.49sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 5.49sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 5.49sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 5.49sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 5.49sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.49sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.49sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.49sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.49sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.49sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.49sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.49sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.51sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.51sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.64sINFOcomponent_container_mt[2026-08-19 14:05:31.951] [moveit_pro_license] [info] ×2 + 5.64sINFOcomponent_container_mt************************************************* ×4 + 5.64sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.64sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.67sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.67sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.67sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.67sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.67sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 5.67sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 5.68sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.69sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.69sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.69sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.69sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.69sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.70sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.70sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.70sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103928 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103928 ms (missed cycles : 2).[0m ×2 + 5.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.00sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.01sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.01sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.01sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.01sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.03sINFOros2-4process has finished cleanly [pid 8993] ×2 + 6.11sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 6.11sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 6.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.17sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.17sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.20sINFOros2_control_node[2026-08-19 14:05:32.508] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.20sINFOros2_control_node[2026-08-19 14:05:32.508] [info] Controller state will be published at 50 Hz. ×2 + 6.21sINFOros2_control_node[2026-08-19 14:05:32.518] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.48sINFOros2-6process has finished cleanly [pid 8995] ×2 + 6.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 6.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 6.55sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.55sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.55sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.55sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.56sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.56sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.56sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 6.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.58sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.58sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.87sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.87sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.87sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.87sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4).[0m ×2 + 6.90sINFOros2-5process has finished cleanly [pid 8994] ×2 + 6.95sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 6.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 6.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.00sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.03sINFOros2_control_node[2026-08-19 14:05:33.340] [info] Controller state will be published at 10 Hz. ×2 + 7.03sINFOros2_control_node[2026-08-19 14:05:33.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.16sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 7.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.37sINFOros2-7process has finished cleanly [pid 8996] ×2 + 7.38sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.38sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.38sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.38sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.38sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 7.38sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 7.43sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.43sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.43sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.43sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.44sINFOforce_torque_sensor_broadcasterconfigure successful + 7.44sINFOros2_control_nodeconfigure successful[0m ×2 + 7.44sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.44sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.44sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.44sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.62sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.74sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.74sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.74sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.74sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.74sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 7.74sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 7.75sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.75sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.76sINFOros2-2process has finished cleanly [pid 8991] ×2 + 7.81sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.81sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.81sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.81sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.81sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.81sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.83sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.83sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 7.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 7.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 7.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 7.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.13sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 8.16sINFOros2-3process has finished cleanly [pid 8992] ×2 + 8.21sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 8.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 8.26sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.26sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.26sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.26sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.29sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 8.29sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.53sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.63sINFOros2-8process has finished cleanly [pid 8997] ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 9.59sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 9.68sWARNros2_control_nodeCamera render tick took 1.93 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 10.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 10.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 331 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.37sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 8991] ×2 + 0.43sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.43sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.75sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.75sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.91sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.25sINFOros2-8process has finished cleanly [pid 8997] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 2.30sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.90sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.90sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 30 warnings · 386 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 8994] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-08-19 14:05:33.340] [info] Controller state will be published at 10 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:33.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNobjective_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 + 0.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOros2-7process has finished cleanly [pid 8996] ×2 + 0.51sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.51sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.51sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.51sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.51sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.56sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.56sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOforce_torque_sensor_broadcasterconfigure successful + 0.56sINFOros2_control_nodeconfigure successful[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.57sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.87sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.87sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.87sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.88sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.88sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.88sINFOros2-2process has finished cleanly [pid 8991] ×2 + 0.94sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.94sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.94sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 8992] ×2 + 1.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.39sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.39sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.76sINFOros2-8process has finished cleanly [pid 8997] ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 2.81sWARNros2_control_nodeCamera render tick took 1.93 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 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_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 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.40sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 25 warnings · 331 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.36sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.36sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.37sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOros2-2process has finished cleanly [pid 8991] ×2 + 0.43sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.43sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 0.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.75sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.75sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.75sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.78sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.83sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.83sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.88sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.88sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.91sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.91sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.15sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.25sINFOros2-8process has finished cleanly [pid 8997] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 2.30sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 3.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.90sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.90sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 419 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.09sINFOros2_control_node[2026-08-19 14:05:32.508] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.09sINFOros2_control_node[2026-08-19 14:05:32.508] [info] Controller state will be published at 50 Hz. ×2 + 0.10sINFOros2_control_node[2026-08-19 14:05:32.518] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.37sINFOros2-6process has finished cleanly [pid 8995] ×2 + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4).[0m ×2 + 0.79sINFOros2-5process has finished cleanly [pid 8994] ×2 + 0.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-08-19 14:05:33.340] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-19 14:05:33.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOros2-7process has finished cleanly [pid 8996] ×2 + 1.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOforce_torque_sensor_broadcasterconfigure successful + 1.32sINFOros2_control_nodeconfigure successful[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.64sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.64sINFOros2-2process has finished cleanly [pid 8991] ×2 + 1.70sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.70sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.70sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.70sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.71sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2-3process has finished cleanly [pid 8992] ×2 + 2.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 2.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 2.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 2.18sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sINFOros2-8process has finished cleanly [pid 8997] ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 3.57sWARNros2_control_nodeCamera render tick took 1.93 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 + 4.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-19-14-05-25-548796-3089ea622268-8942 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.99sINFOros2_control_node-1process started with pid [8990] ×2 + 1.99sINFOmove_group-9process started with pid [9027] ×2 + 1.99sINFOparameter_manager_node-10process started with pid [9028] ×2 + 1.99sINFOwaypoint_manager_node-11process started with pid [9029] ×2 + 1.99sINFOmove_joint_resampler_node-12process started with pid [9030] ×2 + 1.99sINFOmove_end_effector_resampler_node-13process started with pid [9031] ×2 + 1.99sINFOobjective_server_node_main-14process started with pid [9032] ×2 + 1.99sINFOcomponent_container_mt-15process started with pid [9033] ×2 + 1.99sINFOcomponent_container_mt-16process started with pid [9034] ×2 + 1.99sINFOexecute_objective_bridge-17process started with pid [9035] ×2 + 1.99sINFOui_teleop_bridge-18process started with pid [9036] ×2 + 1.99sINFOweb_bridge-19process started with pid [9037] ×2 + 1.99sINFOtf2_web_republisher_node-20process started with pid [9101] ×2 + 2.00sINFOvideo_server-21process started with pid [9102] ×2 + 2.00sINFOweb_bridge_auth_proxy-22process started with pid [9103] ×2 + 2.00sINFOweb_video_auth_proxy-23process started with pid [9104] ×2 + 2.02sINFOros2-2process started with pid [8991] ×2 + 2.02sINFOros2-3process started with pid [8992] ×2 + 2.02sINFOros2-4process started with pid [8993] ×2 + 2.02sINFOros2-5process started with pid [8994] ×2 + 2.02sINFOros2-6process started with pid [8995] ×2 + 2.02sINFOros2-7process started with pid [8996] ×2 + 2.02sINFOros2-8process started with pid [8997] ×2 + 2.03sINFOcontroller_managerReceived robot description from topic. + 2.03sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.05sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.08sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.08sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.08sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.08sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.08sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.08sWARNros2_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 + 2.08sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576610 ms (missed cycles : 4). + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.576610 ms (missed cycles : 4).[0m ×2 + 2.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.27sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.44sINFOvideo_server2026/08/19 14:05:28 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.45sINFOvideo_server2026/08/19 14:05:28 INF configuration loaded from /tmp/moveit-webrtc-axfhoqzk/mediamtx.yml ×2 + 2.45sINFOvideo_server2026/08/19 14:05:28 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.45sINFOvideo_server2026/08/19 14:05:28 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 419 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.09sINFOros2_control_node[2026-08-19 14:05:32.508] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.09sINFOros2_control_node[2026-08-19 14:05:32.508] [info] Controller state will be published at 50 Hz. ×2 + 0.10sINFOros2_control_node[2026-08-19 14:05:32.518] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.37sINFOros2-6process has finished cleanly [pid 8995] ×2 + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4).[0m ×2 + 0.79sINFOros2-5process has finished cleanly [pid 8994] ×2 + 0.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-08-19 14:05:33.340] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-19 14:05:33.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOros2-7process has finished cleanly [pid 8996] ×2 + 1.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOforce_torque_sensor_broadcasterconfigure successful + 1.32sINFOros2_control_nodeconfigure successful[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.64sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.64sINFOros2-2process has finished cleanly [pid 8991] ×2 + 1.70sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.70sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.70sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.70sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.71sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2-3process has finished cleanly [pid 8992] ×2 + 2.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 2.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 2.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 2.18sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sINFOros2-8process has finished cleanly [pid 8997] ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 3.57sWARNros2_control_nodeCamera render tick took 1.93 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 + 4.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 419 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.00sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.05sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.05sINFOros2_control_node[2026-08-19 14:05:32.474] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.09sINFOros2_control_node[2026-08-19 14:05:32.508] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.09sINFOros2_control_node[2026-08-19 14:05:32.508] [info] Controller state will be published at 50 Hz. ×2 + 0.10sINFOros2_control_node[2026-08-19 14:05:32.518] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.37sINFOros2-6process has finished cleanly [pid 8995] ×2 + 0.37sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.37sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.76sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.76sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.76sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4).[0m ×2 + 0.79sINFOros2-5process has finished cleanly [pid 8994] ×2 + 0.83sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.83sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-08-19 14:05:33.340] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-19 14:05:33.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.26sINFOros2-7process has finished cleanly [pid 8996] ×2 + 1.27sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.27sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.27sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.27sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.27sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.32sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.32sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.32sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.32sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.32sINFOforce_torque_sensor_broadcasterconfigure successful + 1.32sINFOros2_control_nodeconfigure successful[0m ×2 + 1.33sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.33sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.33sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.63sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.63sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.63sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.64sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.64sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.64sINFOros2-2process has finished cleanly [pid 8991] ×2 + 1.70sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.70sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.70sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.70sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.71sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.71sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 1.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 2.05sINFOros2-3process has finished cleanly [pid 8992] ×2 + 2.09sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 2.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 2.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.15sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.15sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 2.18sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.42sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.52sINFOros2-8process has finished cleanly [pid 8997] ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 3.57sWARNros2_control_nodeCamera render tick took 1.93 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 + 4.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 4.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 27 warnings · 386 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543543 ms (missed cycles : 4).[0m ×2 + 0.03sINFOros2-5process has finished cleanly [pid 8994] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.16sINFOros2_control_node[2026-08-19 14:05:33.340] [info] Controller state will be published at 10 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:33.341] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.28sWARNobjective_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 + 0.34sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.39sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.39sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.39sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.50sINFOros2-7process has finished cleanly [pid 8996] ×2 + 0.51sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.51sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.51sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.51sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.51sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.51sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.56sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.56sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOforce_torque_sensor_broadcasterconfigure successful + 0.56sINFOros2_control_nodeconfigure successful[0m ×2 + 0.57sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.57sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.57sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.57sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.75sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.87sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.87sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.87sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.87sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.88sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.88sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.88sINFOros2-2process has finished cleanly [pid 8991] ×2 + 0.94sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.94sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.94sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.94sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.94sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.94sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.95sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.95sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1787148334.24243212 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1787148334.25263262 seconds ×3 + 1.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 1.29sINFOros2-3process has finished cleanly [pid 8992] ×2 + 1.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 1.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 1.39sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.39sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.41sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 1.42sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.76sINFOros2-8process has finished cleanly [pid 8997] ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 2.81sWARNros2_control_nodeCamera render tick took 1.93 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 + 3.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 4.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 5.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.64sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.64sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 6.26sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_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 + 6.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.39sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 6.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.40sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 6.40sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 250 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 + 7.38sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 242 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153729 ms (missed cycles : 2).[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 8992] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ac6cxn_y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_q_jpl3pz --params-file /tmp/launch_params_swq8q6y6 [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.596] [info] Controller state will be published at 20 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-19 14:05:34.597] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1787148334.84035015 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.50sINFOros2-8process has finished cleanly [pid 8997] ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.596038 ms (missed cycles : 5).[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1787148335.90048838 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sWARNros2_control_nodeCamera render tick took 1.93 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 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1787148336.51656771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1787148336.57672858 seconds ×3 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.734506 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1787148337.23065257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1787148337.25077558 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1787148337.96222377 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.757763 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1787148338.11277127 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1787148338.78833270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1787148338.82846260 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022316 ms (missed cycles : 3).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1787148339.44083571 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (2.4438e-05 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-08-19 14:05:39.587] [info] Accepted new action goal ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.686306 ms (missed cycles : 6).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080309 ms (missed cycles : 2).[0m ×2 | ||||